copy
Description
creates a deep copy of the planner object with the same properties.plannerCopy
= copy(planner
)
Examples
Create Copy of plannerBiRRT 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 plannerBiRRT
object.
planner = plannerBiRRT(ss,sv)
planner = plannerBiRRT with properties: StateSpace: [1x1 stateSpaceSE2] StateValidator: [1x1 validatorOccupancyMap] MaxNumTreeNodes: 10000 StateSampler: [1x1 stateSamplerUniform] MaxIterations: 10000 MaxConnectionDistance: 0.1000 EnableConnectHeuristic: 0
Create a copy of the plannerBiRRT
object.
plannerNew = copy(planner)
plannerNew = plannerBiRRT with properties: StateSpace: [1x1 stateSpaceSE2] StateValidator: [1x1 validatorOccupancyMap] MaxNumTreeNodes: 10000 StateSampler: [1x1 stateSamplerUniform] MaxIterations: 10000 MaxConnectionDistance: 0.1000 EnableConnectHeuristic: 0
Input Arguments
planner
— Path planner
plannerBiRRT
object
Path planner, specified as a plannerBiRRT
object.
Output Arguments
plannerCopy
— Copy of path planner
plannerBiRRT
object
Copy of path planner, returned as a plannerBiRRT
object.
Version History
Introduced in R2021a
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