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plannerLineSpec.state

Specifications for plotting generic states

Since R2023b

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    Syntax

    spec = plannerLineSpec.state
    spec = plannerLineSpec.state(Name=Value)
    [spec,structData] = plannerLineSpec.state(___)

    Description

    spec = plannerLineSpec.state specifies default color, line, and marker properties for plotting the generic states in the input state space.

    example

    spec = plannerLineSpec.state(Name=Value) specifies new values for the color, line, and marker properties by using one or more name-value arguments.

    example

    [spec,structData] = plannerLineSpec.state(___) returns the properties and their values as a structure using any combination of inputs from the previous syntaxes.

    Examples

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    Open Live Script

    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

    Figure contains an axes object. The axes object with title Occupancy Grid, xlabel X [meters], ylabel Y [meters] contains an object of type image.

    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{:})

    Figure contains an axes object. The axes object with title Occupancy Grid, xlabel X [meters], ylabel Y [meters] contains 3 objects of type image, line. One or more of the lines displays its values using only markers These objects represent Start, 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{:})

    Figure contains an axes object. The axes object with title Occupancy Grid, xlabel X [meters], ylabel Y [meters] contains 5 objects of type image, line. One or more of the lines displays its values using only markers These objects represent Start, Goal, Tree, State.

    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])

    Figure contains an axes object. The axes object with title Occupancy Grid, xlabel X [meters], ylabel Y [meters] contains 7 objects of type image, line, quiver. One or more of the lines displays its values using only markers These objects represent Start, Goal, Tree, State, Path, Heading.

    Input Arguments

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    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")

    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.

    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.

    Line width, specified as a positive numeric scalar.

    Marker symbol, specified as one of the values listed in this table.

    MarkerDescriptionResulting Marker
    "o" Circle

    Sample of circle marker

    "+" Plus sign

    Sample of plus sign marker

    "*" Asterisk

    Sample of asterisk marker

    "." Point

    Sample of point marker

    "x" Cross

    Sample of cross marker

    "_" Horizontal line

    Sample of horizontal line marker

    "|" Vertical line

    Sample of vertical line marker

    "square" Square

    Sample of square marker

    "diamond" Diamond

    Sample of diamond marker

    "^" Upward-pointing triangle

    Sample of upward-pointing triangle marker

    "v" Downward-pointing triangle

    Sample of downward-pointing triangle marker

    ">" Right-pointing triangle

    Sample of right-pointing triangle marker

    "<" Left-pointing triangle

    Sample of left-pointing triangle marker

    "pentagram" Pentagram

    Sample of pentagram marker

    "hexagram" Hexagram

    Sample of hexagram marker

    "none" No markersNot applicable

    Marker size, specified as a positive numeric 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.

    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.

    Label to include in the legend, specified as a character vector or string scalar.

    Output Arguments

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    Color, line, and marker specifications for plotting the generic states, returned as a cell array of size 1-by-16.

    Data Types: cell

    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

    See Also

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