copy
Description
creates a deep copy of the planner2
= copy(planner1
)plannerAStar
object
planner1
.
Examples
Plan Shortest Path Between Two States in Graph Using A-Star Path Planner
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)
Input Arguments
planner1
— A* path planner
plannerAStar
object
A* path planner, specified as a plannerAStar
object.
Output Arguments
planner2
— Copy of A* path planner
plannerAStar
object
Copy of A* path planner, returned as a plannerAStar
object.
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
Version History
Introduced in R2023a
See Also
MATLAB 명령
다음 MATLAB 명령에 해당하는 링크를 클릭했습니다.
명령을 실행하려면 MATLAB 명령 창에 입력하십시오. 웹 브라우저는 MATLAB 명령을 지원하지 않습니다.
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