sampleUniform

Sample state using uniform distribution

Description

state = sampleUniform(space)returns a sample state within the StateBounds property of the space object using a uniform distribution.

state = sampleUniform(space,numSamples) returns a number of state samples. The number is equal to numSamples.

state = sampleUniform(space,nearState,distVector,numSamples) returns the state samples in a subregion defined by nearState and distVector. The center of the subregion is the nearState. distVector defines the distance from the two boundaries of the subregion to the center.

Input Arguments

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State space object, specified as a stateSpaceSE2, a stateSpaceDubins, or a stateSpaceReedsShepp object.

Data Types: object

Number of samples, specified as a positive integer.

Data Types: single | double

Center of the sampling region, specified as a 3-element real vector.

Data Types: single | double

Distance of sampling region boundary form the center, specified as a 3-element nonnegative vector.

Data Types: single | double

Output Arguments

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State samples, returned as an N-by-3 real-valued matrix. N is the number of samples. Each row of the matrix corresponds to one incidence of state in the state space.

Data Types: single | double

Introduced in R2019b