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copy

Create copy of 2-D occupancy map

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Syntax

copyMap = copy(map)

Description

copyMap = copy(map) creates a deep copy of the occupancyMap object with the same properties.

example

Examples

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Open Live Script

Copy an occupancy grid map object. Once copied, the original object can be modified without affecting the copied map.

Create an occupancy grid with zeros for an empty map.

p = zeros(10);
map = occupancyMap(p);

Copy the occupancy grid map. Modify the original map. The copied map is not modified. Plot the two maps side by side.

mapCopy = copy(map);
setOccupancy(map,[1:3;1:3]',ones(3,1));
subplot(1,2,1)
show(map)
title('Original map')
subplot(1,2,2)
show(mapCopy)
title('Copied map')

Figure contains 2 axes objects. Axes object 1 with title Original map, xlabel X [meters], ylabel Y [meters] contains an object of type image. Axes object 2 with title Copied map, xlabel X [meters], ylabel Y [meters] contains an object of type image.

Input Arguments

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Map representation, specified as a occupancyMap object. This object represents the environment of the vehicle. The object contains a matrix grid with values representing the probability of the occupancy of that cell. Values close to 1 represent a high probability that the cell contains an obstacle. Values close to 0 represent a high probability that the cell is not occupied and obstacle free.

Output Arguments

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Map representation, specified as a occupancyMap object. The properties are the same as the input object, map, but the copy has a different object handle.

Extended Capabilities

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

Version History

Introduced in R2019b

See Also

(Robotics System Toolbox) | | |

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