copy

Create copy of 2-D occupancy map

Syntax

copyMap = copy(map)

Description

copyMap = copy(map) creates a deep copy of the occupancyMap object with the same properties.

Examples

Copy Occupancy Grid Map

Copy an occupancy grid map object. Once copied, the original object can be modified without affecting the copied map.

Create an occupancy grid with zeros for an empty map.

p = zeros(10);
map = occupancyMap(p);

Copy the occupancy grid map. Modify the original map. The copied map is not modified. Plot the two maps side by side.

mapCopy = copy(map);
setOccupancy(map,[1:3;1:3]',ones(3,1));
subplot(1,2,1)
show(map)
title('Original map')
subplot(1,2,2)
show(mapCopy)
title('Copied map')

Input Arguments

map — Map representation

occupancyMap object

Map representation, specified as a occupancyMap object. This object represents the environment of the vehicle. The object contains a matrix grid with values representing the probability of the occupancy of that cell. Values close to 1 represent a high probability that the cell contains an obstacle. Values close to 0 represent a high probability that the cell is not occupied and obstacle free.

Output Arguments

copyMap — Copied map representation

occupancyMap object

Map representation, specified as a occupancyMap object. The properties are the same as the input object, map, but the copy has a different object handle.

Extended Capabilities

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

Version History

Introduced in R2019b