Main Content

copy

Create deep copy of object

Since R2020b

collapse all in page

    Syntax

    plannerCopy = copy(planner)

    Description

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

    example

    Examples

    collapse all

    Open Live Script

    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: [1x1 struct]
    FeasibilityParameters: [1x1 struct]
           TimeResolution: 0.1000
              NumSegments: 1
          DeviationOffset: 0
             CostFunction: @trajectoryOptimalFrenet.nullCost
           TrajectoryList: [1x1 struct]
           TerminalStates: [1x1 struct]
                Waypoints: [2x2 double]

    Create a copy of trajectoryOptimalFrenet object.

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

                  Weights: [1x1 struct]
    FeasibilityParameters: [1x1 struct]
           TimeResolution: 0.1000
              NumSegments: 1
          DeviationOffset: 0
             CostFunction: @trajectoryOptimalFrenet.nullCost
           TrajectoryList: [1x1 struct]
           TerminalStates: [1x1 struct]
                Waypoints: [2x2 double]

    Input Arguments

    collapse all

    Trajectory optimal Frenet object, specified as a trajectoryOptimalFrenet object.

    Output Arguments

    collapse all

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

    Version History

    Introduced in R2020b

    See Also