copy

Create deep copy of plannerPRM object

Since R2022a

Syntax

planner2 = copy(planner1)

Description

planner2 = copy(planner1) creates a deep copy of the plannerPRM object with the same properties.

Examples

Create Copy of plannerPRM 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 plannerPRM object.

planner = plannerPRM(ss,sv)

planner = 
  plannerPRM with properties:

               StateSpace: [1x1 stateSpaceSE2]
           StateValidator: [1x1 validatorOccupancyMap]
             StateSampler: [1x1 stateSamplerUniform]
    MaxConnectionDistance: Inf
              MaxNumNodes: 50

Create a copy of the plannerPRM object.

plannerNew = copy(planner)

plannerNew = 
  plannerPRM with properties:

               StateSpace: [1x1 stateSpaceSE2]
           StateValidator: [1x1 validatorOccupancyMap]
             StateSampler: [1x1 stateSamplerUniform]
    MaxConnectionDistance: Inf
              MaxNumNodes: 50

Input Arguments

planner1 — Path planner

plannerPRM object

Path planner, specified as a plannerPRM object.

Output Arguments

planner2 — Copy of path planner

plannerPRM object

Copy of path planner, returned as a plannerPRM object.

Extended Capabilities

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

Version History

Introduced in R2022a