copy

Create copy of planner object

Syntax

planner2 = copy(planner1)

Description

planner2 = copy(planner1) creates a planner object, planner2, form a planner object, planner1.

Examples

Create Copy of plannerRRT 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 plannerRRT object.

planner = plannerRRT(ss,sv)

planner = 
  plannerRRT with properties:

               StateSpace: [1×1 stateSpaceSE2]
           StateValidator: [1×1 validatorOccupancyMap]
             StateSampler: [1×1 stateSamplerUniform]
          MaxNumTreeNodes: 10000
            MaxIterations: 10000
    MaxConnectionDistance: 0.1000
           GoalReachedFcn: @nav.algs.checkIfGoalIsReached
                 GoalBias: 0.0500

Create a copy of the plannerRRT object.

plannerNew = copy(planner)

plannerNew = 
  plannerRRT with properties:

               StateSpace: [1×1 stateSpaceSE2]
           StateValidator: [1×1 validatorOccupancyMap]
             StateSampler: [1×1 stateSamplerUniform]
          MaxNumTreeNodes: 10000
            MaxIterations: 10000
    MaxConnectionDistance: 0.1000
           GoalReachedFcn: @nav.algs.checkIfGoalIsReached
                 GoalBias: 0.0500

Input Arguments

planner1 — Path planner

plannerRRT object | plannerRRTStar object

Path planner, specified as a plannerRRT object or a plannerRRTStar object.

Output Arguments

planner2 — Path planner

plannerRRT object | plannerRRTStar object

Path planner, returned as a plannerRRT object or a plannerRRTStar object.

Extended Capabilities

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

Version History

Introduced in R2018b