shorten

Trim edges to shorten path from RRT

Syntax

shortPath = shorten(rrt,path,numIter)

Description

shortPath = shorten(rrt,path,numIter) trims edges to shorten the specified path path by running a randomized shortening strategy for a specified number of iterations numIter.

Input Arguments

rrt — Manipulator RRT planner

manipulatorRRT object

Manipulator RRT planner, specified as a manipulatorRRT object. This planner is for a specific rigid body tree robot model stored as a rigidBodyTree object.

path — Planned path in joint space

r-by-n matrix of joint configurations

Planned path in joint space, specified as an r-by-n matrix of joint configurations, where r is the number of configurations in the path, and n is the number of nonfixed joints in the rigidBodyTree robot model.

Data Types: double

numIter — Number of iterations to attempt shortening the path

positive integer

Number of iterations to attempt shortening path, specified as a positive integer.

Data Types: double

Output Arguments

shortPath — Planned path in joint space

r-by-n matrix of joint configurations

Planned path in joint space, returned as an r-by-n matrix of joint configurations, where r is the number of configurations in the path, and n is the number of nonfixed joints in the rigidBodyTree robot model.

Data Types: double

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2020b

R2023b: Improved Performance of Object Functions

The object functions of the manipulatorRRT object have improved performance in MATLAB^® R2023b interpreted execution compared to R2023a. For example, this code is about 6 times faster than in the previous release:

function timingtest
    rng(10);
    kuka=loadrobot("kukaIiwa14",DataFormat="row");
    env={collisionBox(0.5,0.5,0.05),...
        collisionSphere(0.3)};
    env{1}.Pose=trvec2tform([0,0,-0.05]);
    env{2}.Pose=trvec2tform([0.1,0.2,0.8]);
    startConfig = [0.08 -0.65 0.05 0.02 0.04 0.49 0.04];
    goalConfig =  [2.97 -1.05 0.05 0.02 0.04 0.49 0.04];
    planner=manipulatorRRT(kuka,env);
    planner.SkippedSelfCollisions="parent";
    tic;
    plannedplath=plan(planner,startConfig,goalConfig);
    shortenedpath=shorten(planner,plannedplath,10);
    toc
end

The approximate execution times are:

R2023a: 14.0 s

R2023b: 2.5 s

This code was timed on a Windows 10 system with a 3.60 GHz Intel^® W-2133 CPU with 64 GB of RAM.