graph = graphData(planner)
retrieves graph as a digraph object. The digraph object is created when the plannerPRM object is
created with default or user specified values for the MaxNumNodes and
MaxConnectionDistance properties.
show(sv.Map)
hold on
plot(nodes(:,1),nodes(:,2),"*",Color=[0 0 1],LineWidth=2)
for i = 1:size(edges,1)
% Samples states at distance 0.02 meters.
states = interpolate(ss,nodes(edges(i,1),:), ...
nodes(edges(i,2),:),0:0.02:1);
plot(states(:,1),states(:,2),Color=[0 0 1])
end
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