There is no direct ability to do this. There are two ways to accomplish this however:
- Create a 2D matrix with the values in your map and create a vehicleCostmap object.
- Create a 'blank' vehicleCostmap object and populate it with the barriers using the setCosts function.
% Create a 2D matrix with the barricades.
C = 0.1*ones(100, 100);
C(30:35,50:90) = 0.8;
% Construct a vehicleCostmap object
costmap1 = vehicleCostmap(C);
% Plot created costmap
figure, plot(costmap1)
% Create a vehicleCostmap object 100m-by-100m
costmap2 = vehicleCostmap(100, 100, 'CellSize', 1);
% Mark a rectangular obstacle
[xx,yy] = meshgrid(50:90, 65:70);
xyPoints = [xx(:),yy(:)];
setCosts(costmap2, xyPoints, 0.8);
% Plot created costmap
figure, plot(costmap2)
