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copy

Creates deep copy of planner object

    Description

    example

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

    Examples

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    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: [1x1 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: [1x1 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

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

    Version History

    Introduced in R2021b

    See Also

    Objects

    Functions