copy

Create deep copy of object

Syntax

plannerCopy = copy(planner)

Description

plannerCopy = copy(planner) creates a deep copy of the trajectoryOptimalFrenet object with the same properties.

Examples

Create Copy of trajectoryOptimalFrenet Object

Create a binaryOccupancyMap with an obstacle grid map.

grid = zeros(50,100);
grid(24:26,48:53) = 1;
map = binaryOccupancyMap(grid);

Create a state validator. Assign the map and the state bounds to the state validator.

validator = validatorOccupancyMap;
validator.Map = map;
validator.StateSpace.StateBounds(1:2,:) = [map.XWorldLimits; map.YWorldLimits];

Create a reference path for the planner.

refPath = [0,25;100,25];

Create a trajectoryOptimalFrenet object.

planner = trajectoryOptimalFrenet(refPath,validator)

planner = 
  trajectoryOptimalFrenet with properties:

                  Weights: [1×1 struct]
    FeasibilityParameters: [1×1 struct]
           TimeResolution: 0.1000
              NumSegments: 1
          DeviationOffset: 0
             CostFunction: @trajectoryOptimalFrenet.nullCost
           TrajectoryList: [1×1 struct]
           TerminalStates: [1×1 struct]
                Waypoints: [2×2 double]

Create a copy of trajectoryOptimalFrenet object.

plannerNew = copy(planner)

plannerNew = 
  trajectoryOptimalFrenet with properties:

                  Weights: [1×1 struct]
    FeasibilityParameters: [1×1 struct]
           TimeResolution: 0.1000
              NumSegments: 1
          DeviationOffset: 0
             CostFunction: @trajectoryOptimalFrenet.nullCost
           TrajectoryList: [1×1 struct]
           TerminalStates: [1×1 struct]
                Waypoints: [2×2 double]

Input Arguments

planner — Trajectory optimal Frenet object

trajectoryOptimalFrenet object

Trajectory optimal Frenet object, specified as a trajectoryOptimalFrenet object.

Output Arguments

plannerCopy — Copy of trajectory optimal Frenet object

trajectoryOptimalFrenet object

Copy of trajectory optimal Frenet object, returned as a trajectoryOptimalFrenet object with the same properties.

Version History

Introduced in R2020b