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copy

Create deep copy of planner object

Since R2021a

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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.

    map = load("exampleMaps.mat").simpleMap;
map = occupancyMap(map,10);

    Create a state space and update the state space bounds to be the same as the map limits.

    ss = stateSpaceSE2;
ss.StateBounds = [map.XWorldLimits; map.YWorldLimits; [-pi pi]];

    Create a state validator with stateSpaceSE2 using the map and set the validation distance.

    sv = validatorOccupancyMap(ss,Map=map);
sv.ValidationDistance = 0.01;

    Create a plannerBiRRT object.

    planner = plannerBiRRT(ss,sv)
    planner = 
  plannerBiRRT with properties:

                StateSpace: [1x1 stateSpaceSE2]
            StateValidator: [1x1 validatorOccupancyMap]
           MaxNumTreeNodes: 10000
              StateSampler: [1x1 stateSamplerUniform]
             MaxIterations: 10000
     MaxConnectionDistance: 0.1000
    EnableConnectHeuristic: 0

    Create a copy of the plannerBiRRT object.

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

                StateSpace: [1x1 stateSpaceSE2]
            StateValidator: [1x1 validatorOccupancyMap]
           MaxNumTreeNodes: 10000
              StateSampler: [1x1 stateSamplerUniform]
             MaxIterations: 10000
     MaxConnectionDistance: 0.1000
    EnableConnectHeuristic: 0

    Input Arguments

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    Path planner, specified as a plannerBiRRT object.

    Output Arguments

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    Copy of path planner, returned as a plannerBiRRT object.

    Version History

    Introduced in R2021a

    See Also

    Objects

    Functions