show

Visualize 2D coverage space

Since R2023a

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    Syntax

    ax = show(space)
    ax = show(space,Name=Value)

    Description

    ax = show(space) visualize a 2D coverage area for a coverage planner. The polygons are numbered in accordance to the order you specify them in when you create the uavCoverageSpace object.

    ax = show(space,Name=Value) specifies additional options using one or more name-value arguments.

    example

    Examples

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    Open Live Script

    This example shows how to plan a coverage path that surveys the parking lots of the MathWorks Lakeside campus.

    Get the geodetic coordinates for the MathWorks Lakeside campus, then create the limits for our map. 

    mwLS = [42.3013 -71.375 0];
latlim = [mwLS(1)-0.003 mwLS(1)+0.003];
lonlim = [mwLS(2)-0.003 mwLS(2)+0.003];

    Create a figure containing the map with the longitude and latitude limits.

    fig = figure;
g = geoaxes(fig,Basemap="satellite");
geolimits(latlim,lonlim)

    Get the outline of the first parking lot in longitude and latitude coordinates. Then create the polygon by concatenating them. 

    pl1lat = [42.3028 42.30325 42.3027 42.3017 42.3019]';
pl1lon = [-71.37527 -71.37442 -71.3736 -71.37378 -71.375234]';
pl1Poly = [pl1lat pl1lon];

    Repeat the process for the second parking lot. 

    pl2lat = [42.30035 42.2999 42.2996 42.2999]';
pl2lon = [-71.3762 -71.3734 -71.37376 -71.37589]';
pl2poly = [pl2lat pl2lon];

    Create the coverage space with both polygons, and specify these properties:

    • Waypoints coordinates format: Geodetic

    • Reference location: MathWorks Lakeside campus location

    • Reference height: 25 meters

    • Width of sensor footprint: 20 meters

    cs = uavCoverageSpace(Polygons={pl1Poly,pl2poly},UseLocalCoordinates=false,...
    ReferenceLocation=mwLS,ReferenceHeight=25,UnitWidth=20);

    Show the coverage space on the map.

    show(cs,Parent=g);

    Figure contains an axes object with type geoaxes. The geoaxes object contains 4 objects of type line, text.

    Set the sweep angle for polygons 1 and 2 to 85 and 5 degrees, respectively, to have paths that are parallel to the roads in the parking lots. Then create the coverage planner for that coverage space with the exhaustive solver algorithm.

    setCoveragePattern(cs,1,SweepAngle=85)
setCoveragePattern(cs,2,SweepAngle=5)
cp = uavCoveragePlanner(cs,Solver="Exhaustive");

    Set the takeoff position to a location in the courtyard, then plan the coverage path.

    takeoff = [42.30089 -71.3752, 0];
[wp,soln] = plan(cp,takeoff);
hold on
geoplot(wp(:,1),wp(:,2),LineWidth=1.5);
geoplot(takeoff(1),takeoff(2),MarkerSize=25,Marker=".")
legend("","","Path","Takeoff/Landing")
hold off

    Figure contains an axes object with type geoaxes. The geoaxes object contains 6 objects of type line, text. These objects represent Path, Takeoff/Landing.

    Input Arguments

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    Coverage space, specified as an uavCoverageSpace object.

    Name-Value Arguments

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    Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

    Example: show(cs,FontSize=5)

    Parent axes for plotting, specified as either an Axes object or a GeographicAxes object.

    If the value of the UseLocalCoordinates property of space is true, then the parent axes must be a Axes object. If the value is false, then the parent axes must be a GeographicAxes object.

    Font size of polygon numbering, specified as a positive numeric scalar. Units are in points, where 1 point = 1/72 of an inch.

    Data Types: single | double

    Width of polygon outlines, specified as a positive numeric scalar. Units are in points, where 1 point = 1/72 of an inch.

    Data Types: single | double

    Flag to display number labels on polygons, specified as true or 1 to show the labels, and false or 0 to hide the labels

    Data Types: logical

    Output Arguments

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    Axes handle, returned as an Axes object or a GeographicAxes object.

    Tips

    To see the sequence in which the UAV visits the polygons in the coverage path, use the plan object function of the uavCoveragePlanner object, and extract the VisitingSequence field of the solninfo output argument. For example, [2 1 3] indicates that the UAV visits polygon 2, polygon 1, and then polygon 3.

    Version History

    Introduced in R2023a

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    See Also

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