copy

R2026b

Create deep copy of control path object

Syntax

pathObj2 = copy(pathObj1)

Description

pathObj2 = copy(pathObj1) creates a deep copy of the specified control path object.

Examples

Create Deep Copy of Control Path Object

Create a default object of type mobileRobotPropagator, a subclass of nav.StatePropagator.

Load a ternary map matrix from the exampleMaps file, and use the map matrix to create an occupancyMap object. Create the state propagator using the map. By default, the state propagator uses a bicycle kinematic model.

load("exampleMaps","ternaryMap")
map = occupancyMap(ternaryMap,10);

propagator = mobileRobotPropagator(Environment=map); % Bicycle model

Use the mobile robot state propagator object to create a default navPathControl object.

pathObj1 = navPathControl(propagator)

pathObj1 = 
  navPathControl with properties:

    StatePropagator: [1×1 mobileRobotPropagator]
             States: [0×3 double]
           Controls: [0×2 double]
          Durations: [0×1 double]
       TargetStates: [0×3 double]
          NumStates: 0
        NumSegments: 0

Create a copy of pathObj1 and verify that it has the same property values.

pathObj2 = copy(pathObj1)

pathObj2 = 
  navPathControl with properties:

    StatePropagator: [1×1 mobileRobotPropagator]
             States: [0×3 double]
           Controls: [0×2 double]
          Durations: [0×1 double]
       TargetStates: [0×3 double]
          NumStates: 0
        NumSegments: 0

Verify that the copy is a deep copy by checking that the StatePropagator handle properties point to distinct objects in memory. A result of logical 0 confirms they do not share the same underlying data.

pathObj1.StatePropagator == pathObj2.StatePropagator

ans = logical
   0

Input Arguments

pathObj1 — Control path object to be copied

navPathControl object

Control path object to be copied, specified as an navPathControl object.

Output Arguments

pathObj2 — Copy of path object

navPathControl object

Copy of path object, returned as a navPathControl object.

Version History

Introduced in R2021b