copy
Create copy of planner object
Description
Examples
Create Copy of plannerRRT Object
Create an occupancy map from an example map and set the map resolution as 10 cells/meter.
map = load("exampleMaps.mat").simpleMap;
map = occupancyMap(map,10);
Create a state space and update the state space bounds to be the same as the map limits.
ss = stateSpaceSE2; ss.StateBounds = [map.XWorldLimits; map.YWorldLimits; [-pi pi]];
Create a state validator with stateSpaceSE2
using the map and set the validation distance.
sv = validatorOccupancyMap(ss,Map=map); sv.ValidationDistance = 0.01;
Create a plannerRRT
object.
planner = plannerRRT(ss,sv)
planner = plannerRRT with properties: StateSpace: [1x1 stateSpaceSE2] StateValidator: [1x1 validatorOccupancyMap] StateSampler: [1x1 stateSamplerUniform] MaxNumTreeNodes: 10000 MaxIterations: 10000 MaxConnectionDistance: 0.1000 GoalReachedFcn: @nav.algs.checkIfGoalIsReached GoalBias: 0.0500
Create a copy of the plannerRRT
object.
plannerNew = copy(planner)
plannerNew = plannerRRT with properties: StateSpace: [1x1 stateSpaceSE2] StateValidator: [1x1 validatorOccupancyMap] StateSampler: [1x1 stateSamplerUniform] MaxNumTreeNodes: 10000 MaxIterations: 10000 MaxConnectionDistance: 0.1000 GoalReachedFcn: @nav.algs.checkIfGoalIsReached GoalBias: 0.0500
Input Arguments
planner1
— Path planner
plannerRRT
object | plannerRRTStar
object
Path planner, specified as a plannerRRT
object or a plannerRRTStar
object.
Output Arguments
planner2
— Path planner
plannerRRT
object | plannerRRTStar
object
Path planner, returned as a plannerRRT
object or a plannerRRTStar
object.
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
Version History
Introduced in R2018b
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