plannerLineSpec.state
Syntax
Description
specifies default
color, line, and marker properties for plotting the generic states in the input state
space.spec
= plannerLineSpec.state
specifies new values for the color, line, and marker properties by using one or more
name-value arguments.spec
= plannerLineSpec.state(Name=Value
)
[
returns the properties and their values as a structure using any combination of inputs
from the previous syntaxes.spec
,structData
] = plannerLineSpec.state(___)
Examples
Visualize PRM Path Planner Output Using Predefined Plot Specifications
Set the random number seed to ensure repeatability.
rng(100,"twister")
Load Occupancy Map
Load a probability occupancy grid into the MATLAB® workspace.
load("exampleMaps.mat","simpleMap")
Create an occupancy map from the input occupancy grid.
map = occupancyMap(simpleMap);
Define the lower and upper limits of the state space variables x
, y
, and theta
from the occupancy map.
x = map.XWorldLimits; y = map.YWorldLimits; theta = [-pi pi];
Display the occupancy map.
figure
show(map)
hold on
Specify the start state and the goal state for path planning.
start = [2 5 0]; goal = [22 22 0];
Plot Start and Goal States
Use the plannerLineSpec.start
and plannerLineSpec.goal
functions to plot the start and goal states, respectively.
plot(start(1),start(2),plannerLineSpec.start{:}) plot(goal(1),goal(2),plannerLineSpec.goal{:})
Configure PRM Path Planner
Create a state space SE(2) object using the specified state space variables.
stateSpace = stateSpaceSE2([x; y; theta]);
Check the validity of the states in the input state space by using a state validator. Set the validation distance to 0.01.
stateValidator = validatorOccupancyMap(stateSpace,Map=map); stateValidator.ValidationDistance = 0.01;
Configure the PRM path planner.
planner = plannerPRM(stateSpace,stateValidator);
Find the generic states (or nodes) from the network graph.
digraphObj = graphData(planner); nodes = table2array(digraphObj.Nodes);
Find the search tree from the network graph.
edges = table2array(digraphObj.Edges); edgeLine = []; for i = 1:size(edges,1) state1 = nodes(edges(i,1),:); state2 = nodes(edges(i,2),:); edgeLine = [edgeLine; state1(1:2); state2(1:2); NaN NaN]; end
Plot Search Tree and Generic States
Use the plannerLineSpec.tree
function to plot the search tree.
plot(edgeLine(:,1),edgeLine(:,2),plannerLineSpec.tree{:})
Use the plannerLineSpec.state
function to plot the generic states. Set the size of the marker for plotting the generic states to 3.
gstate = plannerLineSpec.state(MarkerSize=3); plot(nodes(:,1),nodes(:,2),gstate{:})
Find Path Between Two States and Heading Angle
Compute the path between the start point and the goal point.
[path,info] = plan(planner,start,goal);
Compute the heading angle from the XY-points to the path.
inpath=[path.States(:,1) path.States(:,2)]; heading = headingFromXY(inpath);
Plot Computed Path and Heading Angle
Use the plannerLineSpec.path
and plannerLineSpec.heading
functions to plot the computed path and the heading angle, respectively. Modify the line color for plotting the heading angle to cyan
.
if info.IsPathFound plot(path.States(:,1),path.States(:,2),plannerLineSpec.path{:}) headingplot = plannerLineSpec.heading(Color="cyan"); quiver(path.States(:,1),path.States(:,2),cos(heading),sin(heading),0.2,headingplot{:}) else disp("Path not found") end legend(Position=[0.82 0.1 0.15 0.15])
Input Arguments
Name-Value Arguments
Specify optional pairs of arguments as
Name1=Value1,...,NameN=ValueN
, where Name
is
the argument name and Value
is the corresponding value.
Name-value arguments must appear after other arguments, but the order of the
pairs does not matter.
Example:
plannerLineSpec.state(Color="Red")
Color
— Line color
#104280
(default) | RGB triplet | character vector | string scalar
Line color, specified as one of these values:
RGB triplet — Specify the intensities of the red, green, and blue components of the color as a three-element vector in the order
[R G B]
. Each intensity must be in the range [0, 1]. For example, you can specify a shade of pink as[1 0.5 0.8]
.Character vector or string scalar — Specify the hexadecimal color code, color name, or short name of the color.
For more information on the types of color values and how to specify them, see Specify Plot Colors.
LineStyle
— Line style
"none"
(default) |
"-"
|
"--"
|
":"
|
"-."
Line style, specified as one of these values:
"-"
— For a solid line."--"
— For a dashed line.":"
— For a dotted line."-."
— For a dash-dotted line."none"
— For no line. This is the default.
LineWidth
— Line width
1
(default) | positive numeric scalar
Line width, specified as a positive numeric scalar.
Marker
— Marker symbol
"o"
(default) |
"."
|
"+"
|
"*"
|
"x"
| ...
Marker symbol, specified as one of the values listed in this table.
Marker | Description | Resulting Marker |
---|---|---|
"o"
| Circle |
|
"+"
| Plus sign |
|
"*"
| Asterisk |
|
"."
| Point |
|
"x"
| Cross |
|
"_"
| Horizontal line |
|
"|"
| Vertical line |
|
"square"
| Square |
|
"diamond"
| Diamond |
|
"^"
| Upward-pointing triangle |
|
"v"
| Downward-pointing triangle |
|
">"
| Right-pointing triangle |
|
"<"
| Left-pointing triangle |
|
"pentagram"
| Pentagram |
|
"hexagram"
| Hexagram |
|
"none"
| No markers | Not applicable |
MarkerSize
— Marker size
2
(default) | positive numeric scalar
Marker size, specified as a positive numeric scalar.
MarkerEdgeColor
— Marker outline color
#104280
(default) | RGB triplet | character vector | string scalar
Marker outline color, specified as one of these values:
RGB triplet — Specify the intensities of the red, green, and blue components of the color as a three-element vector in the order
[R G B]
. Each intensity must be in the range [0, 1]. For example, you can specify a shade of pink as[1 0.5 0.8]
.Character vector or string scalar — Specify the hexadecimal color code, color name, or short name of the color.
For more information on the types of color values and how to specify them, see Specify Plot Colors.
MarkerFaceColor
— Marker fill color
#104280
(default) | RGB triplet | character vector | string scalar
Marker fill color, specified as one of these values:
RGB triplet — Specify the intensities of the red, green, and blue components of the color as a three-element vector in the order
[R G B]
. Each intensity must be in the range [0, 1]. For example, you can specify a shade of pink as[1 0.5 0.8]
.Character vector or string scalar — Specify the hexadecimal color code, color name, or short name of the color.
For more information on the types of color values and how to specify them, see Specify Plot Colors.
DisplayName
— Label to include in legend
"State"
(default) | character vector | string scalar
Label to include in the legend, specified as a character vector or string scalar.
Output Arguments
spec
— Color, line, and marker specifications
cell array
Color, line, and marker specifications for plotting the generic states, returned as a cell array of size 1-by-16.
Data Types: cell
structData
— Specifications for the plot
structure
Specifications for the plot, returned as a structure with fields
Color
, LineStyle
,
LineWidth
, Marker
,
MarkerSize
, MarkerEdgecolor
,
MarkerFaceColor
, and DisplayName
. Each
field contains the value specified to the corresponding name-value
argument.
Data Types: struct
Version History
Introduced in R2023b
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