copy

Creates deep copy of planner object

Since R2021b

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    Syntax

    plannerCopy = copy(planner)

    Description

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

    example

    Examples

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    Open Live Script

    Create an occupancy map from an example map and set the map resolution as 10 cells/meter.

    load("exampleMaps","ternaryMap")
map = occupancyMap(ternaryMap,10);

    Create the state propagator using the map. By default, the state propagator uses a bicycle kinematic model.

    propagator = mobileRobotPropagator(Environment=map);

    Set the state bounds on the state space based on the map world limits.

    propagator.StateSpace.StateBounds(1:2,:) = ...
                    [map.XWorldLimits; map.YWorldLimits];

    Create a plannerControlRRT object.

    planner = plannerControlRRT(propagator)
    planner = 
  plannerControlRRT with properties:

             StatePropagator: [1×1 mobileRobotPropagator]
    ContinueAfterGoalReached: 0
             MaxPlanningTime: Inf
              MaxNumTreeNode: 10000
             MaxNumIteration: 10000
            NumGoalExtension: 1
                    GoalBias: 0.1000
              GoalReachedFcn: @plannerControlRRT.GoalReachedDefault

    Create a copy of the plannerControlRRT object.

    plannerNew = copy(planner)
    plannerNew = 
  plannerControlRRT with properties:

             StatePropagator: [1×1 mobileRobotPropagator]
    ContinueAfterGoalReached: 0
             MaxPlanningTime: Inf
              MaxNumTreeNode: 10000
             MaxNumIteration: 10000
            NumGoalExtension: 1
                    GoalBias: 0.1000
              GoalReachedFcn: @plannerControlRRT.GoalReachedDefault

    Input Arguments

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    Path planner, specified as a plannerControlRRT object.

    Output Arguments

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    Copy of path planner, returned as a plannerControlRRT object.

    Extended Capabilities

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    C/C++ Code Generation
    Generate C and C++ code using MATLAB® Coder™.

    Version History

    Introduced in R2021b

    See Also

    Objects

    Functions