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Set cost value of cells in vehicle costmap
setCosts(costmap,xyPoints,costVals)
setCosts(costmap,xyPoints,costVals) sets the costs, costVals, for the (x, y) points in xyPoints in the vehicle costmap.
costmap
xyPoints
costVals
example
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Create a 10-by-15 meter vehicle costmap. Cells have a side length of 1 meter.
costmap = vehicleCostmap(10,15);
Define a set of (x,y) coordinates that correspond to a 3-by-5 meter rectangle.
[x,y] = meshgrid(2:4,2:6); xyPoints = [x(:),y(:)];
Mark the rectangle as an obstacle by increasing the cost of its cells to 0.9.
costVal = 0.9; setCosts(costmap,xyPoints,costVal); plot(costmap) title('Costmap with Rectangular Obstacle')
vehicleCostmap
Costmap, specified as a vehicleCostmap object.
Points, specified as an M-by-2 real-valued matrix that represents the (x, y) coordinates of M points.
Example: [3.4 2.6] specifies a single point at (3.4, 2.6)
[3.4 2.6]
Example: [3 2;3 3;4 7] specifies three points: (3, 2), (3, 3), and (4, 7)
[3 2;3 3;4 7]
Cost of points in xyPoints, specified as an M-element real-valued vector.
Example: 0.8 specifies the cost of a single point
0.8
Example: [0.2 0.5 0.8] specifies the cost of three points
[0.2 0.5 0.8]
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Introduced in R2018a
getCosts | vehicleCostmap
getCosts
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