%% Connect Poses Using ReedsShepp Connection Path
% Create a reedsSheppConnection object.

reedsConnObj = reedsSheppConnection;

%
% 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(reedsConnObj,startPose,goalPose);

%
% Show the generated path.

show(pathSegObj{1})

% Copyright 2019 The MathWorks, Inc.