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copy

Create copy of planner object

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Syntax

planner2 = copy(planner1)

Description

example

planner2= copy(planner1)creates a planner object,planner2, form a planner object,planner1.

Examples

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Open Live Script

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 withstateSpaceSE2using the map and set the validation distance.

sv = validatorOccupancyMap(ss,Map=map); sv.ValidationDistance = 0.01;

Create aplannerRRTobject.

planner = plannerRRT(ss,sv)
planner = plannerRRT with properties: StateSpace: [1x1 stateSpaceSE2] StateValidator: [1x1 validatorOccupancyMap] MaxNumTreeNodes: 10000 MaxIterations: 10000 MaxConnectionDistance: 0.1000 GoalReachedFcn: @nav.algs.checkIfGoalIsReached GoalBias: 0.0500

Create a copy of theplannerRRTobject.

plannerNew = copy(planner)
plannerNew = plannerRRT with properties: StateSpace: [1x1 stateSpaceSE2] StateValidator: [1x1 validatorOccupancyMap] MaxNumTreeNodes: 10000 MaxIterations: 10000 MaxConnectionDistance: 0.1000 GoalReachedFcn: @nav.algs.checkIfGoalIsReached GoalBias: 0.0500

Input Arguments

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路径planner, specified as aplannerRRTobject or aplannerRRTStarobject.

Output Arguments

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路径planner, returned as aplannerRRTobject or aplannerRRTStarobject.

Extended Capabilities

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

Version History

Introduced in R2018b

See Also

Objects

Functions