RRT navigation toolbox and automated driving toolbox also costmap from driving scenario

There are two questions I like to clarify

1) What is the difference between navigation toolboxe's "plannerRRT" and Automated drivinng toolboxes "pathPlannerRRT" ?

2) I have created a driving scenario but I want to crete vehicle cost map which I am not knowing how . I have attached my scenario matlab file . I dont understand the process of getting a cost map. My goal is to implement a generic RRT to make the vehicle park in the parking lane(thats the right side as per scenario).

Answer 1

[Qu Cao]

1) plannerRRT in Navigation Toolbox is a generic motion planner where you can define the state space. pathPlannerRRT in Automated Driving Toolbox is mainly used for planning 2-D paths for vehicles.

2) Unfortunately, generating a vehicle cost map from a driving scenario is not supported.