copy

Class: nav.StatePropagator
Namespace: nav

Create deep copy of state propagator object

Since R2021b

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Syntax

spObj2 = copy(spObj1)

Description

spObj2 = copy(spObj1) creates a deep copy of the specified state propagator object.

example

Input Arguments

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State propagator object to be copied, specified as an object of a subclass of nav.StatePropagator.

Output Arguments

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Copy of the state propagator object, returned as an object of the same class as spObj1.

Attributes

Abstracttrue

To learn about attributes of methods, see Method Attributes.

Examples

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Open Live Script

Create a default object of type mobileRobotPropagator, a subclass of nav.StatePropagator.

Load a ternary map matrix from the exampleMaps file, and use the map matrix to create an occupancyMap object. Create the state propagator using the map. By default, the state propagator uses a bicycle kinematic model.

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

propagator1 = mobileRobotPropagator(Environment=map) % Bicycle model
propagator1 = 
  mobileRobotPropagator with properties:

         GoalDistance: 1
      MaxControlSteps: 10
     SystemParameters: [1×1 struct]
        ControlLimits: [2×2 double]
       KinematicModel: 'bicycle'
           Integrator: 'rungekutta4'
    DistanceEstimator: 'euclidean'
        ControlPolicy: 'linearpursuit'
          Environment: [1×1 occupancyMap]
           StateSpace: [1×1 stateSpaceSE2]
      ControlStepSize: 0.1000
     NumControlOutput: 2

Create a copy of propagator1 and verify that it has the same property values.

propagator2 = copy(propagator1)
propagator2 = 
  mobileRobotPropagator with properties:

         GoalDistance: 1
      MaxControlSteps: 10
     SystemParameters: [1×1 struct]
        ControlLimits: [2×2 double]
       KinematicModel: 'bicycle'
           Integrator: 'rungekutta4'
    DistanceEstimator: 'euclidean'
        ControlPolicy: 'linearpursuit'
          Environment: [1×1 occupancyMap]
           StateSpace: [1×1 stateSpaceSE2]
      ControlStepSize: 0.1000
     NumControlOutput: 2

Verify that the copy is a deep copy by checking that the StateSpace handle properties point to distinct objects in memory. A result of logical 0 confirms they do not share the same underlying data.

propagator1.StateSpace == propagator2.StateSpace
ans = logical
   0

Version History

Introduced in R2021b

See Also

Classes

Functions