sample

Sample states from uniform state sampler

Since R2023b

Syntax

states = sample(sampler)

states = sample(sampler,numsamples)

Description

states = sample(sampler) returns a state sample selected using the uniform state sampling approach.

states = sample(sampler,numsamples) returns the specified number of state samples.

Examples

Sample SE(2) State Space Using Uniform State Sampler

Use Default State Space as Input

Create a uniform state sampler with default properties. By default, the sampler uses the SE(2) state space as the configuration space for motion planning. The limits of the state variables [x, y, theta] in the default state space are [-100 100; -100 100; -3.1416 3.1416]. The values of x and y are in meters. theta is in radians.

sampler = stateSamplerUniform;

Check the bounds of the input state space.

bounds = sampler.StateSpace.StateBounds

bounds = 3×2

 -100.0000  100.0000
 -100.0000  100.0000
   -3.1416    3.1416

Sample the input state space. Set the number of samples to select as 10.

states = sample(sampler,10);

Check the sampled state variables.

disp(states)

   62.9447   81.1584   -2.3437
   82.6752   26.4718   -2.5287
  -44.3004    9.3763    2.8746
   92.9777  -68.4774    2.9568
   91.4334   -2.9249    1.8867
  -71.6227  -15.6477    2.6121
   58.4415   91.8985    0.9785
  -92.8577   69.8259    2.7269
   35.7470   51.5480    1.5276
  -21.5546   31.0956   -2.0660

Use Custom State Space as Input

Define a custom SE(2) state space by specifying the limits of the state variables [x, y, theta]. The values of x and y are in meters. theta is in radians.

ss = stateSpaceSE2([-1 1; -2 2; -pi/2 pi/2]);

Create a uniform state sampler with the custom state space as input.

sampler = stateSamplerUniform(ss);

Sample the input state space. Set the number of samples to select as 10.

states = sample(sampler,10);

Check the sampled state variables.

disp(states)

    0.4121   -1.8727   -0.7008
   -0.9077   -1.6115    1.0162
    0.3897   -0.7316    1.4144
   -0.9311   -0.2450   -0.3721
    0.5310    1.1808   -0.9837
   -0.0205   -0.2177    0.4597
    0.4187    1.0187   -0.7036
    0.3594    0.6204   -1.0599
   -0.7620   -0.0065    1.4443
   -0.3192    0.3411   -0.8677

Input Arguments

sampler — State sampler object

stateSamplerUniform object

State sampler object, specified as a stateSamplerUniform object.

numsamples — Number of samples

1 (default) | positive integer

Number of samples, specified as a positive integer.

Data Types: double

Output Arguments

states — State samples

M-by-N matrix of real values

State samples, returned as an M-by-N matrix of real values. M is the number of states. N is the number of state variables. Each row of the matrix specifies the state variables corresponding to the input state space model. For example, for the SE(2) state space model, N is 3, and each row is of the form [x, y, theta].

Data Types: double

Version History

Introduced in R2023b