setCosts

Set cost value of cells in vehicle costmap

Syntax

setCosts(costmap,xyPoints,costVals)

Description

setCosts(costmap,xyPoints,costVals) sets the costs, costVals, for the (x, y) points in xyPoints in the vehicle costmap.

Examples

Mark Rectangular Obstacle on Vehicle Costmap

Create a 10-by-15 meter vehicle costmap. Cells have a side length of 1 meter.

costmap = vehicleCostmap(10,15);

Define a set of (x,y) coordinates that correspond to a 3-by-5 meter rectangle.

[x,y] = meshgrid(2:4,2:6);
xyPoints = [x(:),y(:)];

Mark the rectangle as an obstacle by increasing the cost of its cells to 0.9.

costVal = 0.9;
setCosts(costmap,xyPoints,costVal);
plot(costmap)
title('Costmap with Rectangular Obstacle')

Input Arguments

costmap — Costmap

vehicleCostmap object

Costmap, specified as a vehicleCostmap object.

xyPoints — Points

M-by-2 real-valued matrix

Points, specified as an M-by-2 real-valued matrix that represents the (x, y) coordinates of M points.

Example: [3.4 2.6] specifies a single point at (3.4, 2.6)

Example: [3 2;3 3;4 7] specifies three points: (3, 2), (3, 3), and (4, 7)

costVals — Cost of points

M-element real-valued vector

Cost of points in xyPoints, specified as an M-element real-valued vector.

Example: 0.8 specifies the cost of a single point

Example: [0.2 0.5 0.8] specifies the cost of three points

Extended Capabilities

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

Version History

Introduced in R2018a