%% Get Additional PurePursuit Object Information
% Use the info method to get more information about a PurePursuit object. info returns two fields, RobotPose and LookaheadPoint, which correspond to the current position and orientation of the robot and the point on the path used to compute outputs from the last call of the object.
% Create a PurePursuit object.

pp = robotics.PurePursuit;

%
% Assign waypoints.

pp.Waypoints = [0 0;1 1];

%
% Compute control commands using the pp object with the initial pose [x y theta] given as the input.

[v,w] = pp([0 0 0]);

%
% Get additional information.

s = info(pp)

% Copyright 2012 The MathWorks, Inc.