copy

Create deep copy of planner object

Syntax

plannerCopy = copy(planner)

Description

plannerCopy = copy(planner) creates a deep copy of the planner object with the same properties.

Examples

Create Copy of plannerBiRRT 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 plannerBiRRT object.

planner = plannerBiRRT(ss,sv)

planner = 
  plannerBiRRT with properties:

                StateSpace: [1×1 stateSpaceSE2]
            StateValidator: [1×1 validatorOccupancyMap]
           MaxNumTreeNodes: 10000
              StateSampler: [1×1 stateSamplerUniform]
             MaxIterations: 10000
     MaxConnectionDistance: 0.1000
    EnableConnectHeuristic: 0

Create a copy of the plannerBiRRT object.

plannerNew = copy(planner)

plannerNew = 
  plannerBiRRT with properties:

                StateSpace: [1×1 stateSpaceSE2]
            StateValidator: [1×1 validatorOccupancyMap]
           MaxNumTreeNodes: 10000
              StateSampler: [1×1 stateSamplerUniform]
             MaxIterations: 10000
     MaxConnectionDistance: 0.1000
    EnableConnectHeuristic: 0

Input Arguments

planner — Path planner

plannerBiRRT object

Path planner, specified as a plannerBiRRT object.

Output Arguments

plannerCopy — Copy of path planner

plannerBiRRT object

Copy of path planner, returned as a plannerBiRRT object.

Version History

Introduced in R2021a