copy

Create deep copy of A* path planner object

Since R2023a

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Syntax

planner2 = copy(planner1)

Description

planner2 = copy(planner1) creates a deep copy of the plannerAStar object planner1.

example

Examples

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Plan Shortest Path Between Two States in Graph Using A-Star Path Planner

Open Live Script

Load the Queensland road network.

load("queenslandRoutes","places","routes")

Specify states, links, and weights for a navGraph object.

states = places.utm;               % UTM coordinates of cities
names = places.name;               % Names of cities
links = [routes.start routes.end]; % Adjacent cities
weights = routes.time;             % Travel time between adjacent cities

Create a navGraph object.

graphObj = navGraph(states,links,Weight=weights, ...
                    Name=names);

Create a graph-based A* path planner.

planner = plannerAStar(graphObj);

Create a deep copy of the plannerAStar object.

planner2 = copy(planner)

planner2 = 
  plannerAStar with properties:

    HeuristicCostFcn: @nav.algs.distanceManhattan
          TieBreaker: 0
               Graph: [1x1 navGraph]

Specify a heuristic function returns an estimated time to reach the goal.

planner.HeuristicCostFcn = @(state1,state2) ...
    sum(abs(state1-state2),2)/100;

Define the start and goal cities.

start = "Hughenden";
goal = "Brisbane";

Find the shortest path using the graph-based A* algorithm.

[pathOutput,solutionInfo] = plan(planner,start,goal);

Visualize the results.

h = show(graphObj);
set(h,XData=graphObj.States.StateVector(:,1), ...
      YData=graphObj.States.StateVector(:,2))
pathStateIDs = solutionInfo.PathStateIDs;
highlight(h,pathStateIDs,EdgeColor="#EDB120",LineWidth=4)
highlight(h,pathStateIDs(1),NodeColor="#77AC30",MarkerSize=5)
highlight(h,pathStateIDs(end),NodeColor="#D95319",MarkerSize=5)