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copy

Create copy of occupancy grid

Description

example

copyMap = copy(map) creates a deep copy of the occupancyMap object with the same properties.

Examples

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Copy an occupancy grid map object. Once copied, the original object can be modified without affecting the copied map.

Create an occupancy grid with zeros for an empty map.

p = zeros(10);
map = occupancyMap(p);

Copy the occupancy grid map. Modify the original map. The copied map is not modified. Plot the two maps side by side.

mapCopy = copy(map);
setOccupancy(map,[1:3;1:3]',ones(3,1));
subplot(1,2,1)
show(map)
title('Original map')
subplot(1,2,2)
show(mapCopy)
title('Copied map')

Figure contains 2 axes. Axes 1 with title Original map contains an object of type image. Axes 2 with title Copied map contains an object of type image.

Input Arguments

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Map representation, specified as a occupancyMap object. This object represents the environment of the vehicle. The object contains a matrix grid with values representing the probability of the occupancy of that cell. Values close to 1 represent a high probability that the cell contains an obstacle. Values close to 0 represent a high probability that the cell is not occupied and obstacle free.

Output Arguments

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Map representation, specified as a occupancyMap object. The properties are the same as the input object, map, but the copy has a different object handle.

See Also

| | | (Robotics System Toolbox)

Introduced in R2019b