%% Connect Poses Using Dubins Connection Path
% Create a DubinsConnection object.

dubConnObj = robotics.DubinsConnection;

%
% Define start and goal poses as [x y theta] vectors.

startPose = [0 0 0];
goalPose = [1 1 pi];

%
% Calculate a valid path segment to connect the poses.

[pathSegObj, pathCosts] = connect(dubConnObj,startPose,goalPose);

%
% Show the generated path.

show(pathSegObj{1})

% Copyright 2018 The MathWorks, Inc.