distance

R2026b

Class: nav.StatePropagator
Namespace: nav

Estimate cost of propagating to target state

Syntax

h = distance(q1,q2)


Description

h = distance(q1,q2) estimates the cost of propagating from an initial set of states q1 to final states q2. Each row in q1 and q2 represents a specific state in the system and the number of columns matches the number of state variables. The function outputs an n-element vector h for each q1-q2 pair.

Input Arguments

q1 — Initial states

n-by-s matrix

Initial states, specified as an n-by-s matrix.

q2 — Final states

n-by-s matrix

Final states, specified as an n-by-s matrix.

Output Arguments

h — Cost values

n-element vector

Cost values, returned as an n-element vector, where n is the number of q1-q2 pairs.

Cost values returned by this function are typically used to find the nearest neighbor for sampled target states when planning.

Attributes

Abstract

true

To learn about attributes of methods, see Method Attributes.

Version History

Introduced in R2021b