copy

Create deep copy of EKF SLAM object

Since R2021b

Syntax

newSlamObj = copy(slamObj)

Description

newSlamObj = copy(slamObj) creates a deep copy of slamObj with the same properties. Any changes made to newSlamObj are not reflected in slamObj.

Examples

Remove Landmark from ekfSLAM Object

Specify the initial vehicle state.

initialState = [1; -2; 0.1];

Specify the initial landmark positions.

landmarkPosition = [15.8495; -12.9496;
                    25.2455; -15.4705;
                    37.5880;   3.1023;
                    16.5690;   2.7466];

Specify the initial vehicle state covariance.

initialStateCovar = diag([0.1*ones(1,3) 1.1*ones(1,8)]);

Create an ekfSLAM object with initial state and initial state covariance.

ekfSlamObj = ekfSLAM('State',[initialState; landmarkPosition], ...
                     'StateCovariance',initialStateCovar);
landmarkInfo(ekfSlamObj)

ans=4×3 table
    landmark number    landmark state index    landmark position
    _______________    ____________________    _________________

           1                  4     5           15.85    -12.95 
           2                  6     7          25.245    -15.47 
           3                  8     9          37.588    3.1023 
           4                 10    11          16.569    2.7466 

Create a deep copy of the ekfSLAM object.

newEkfSlamObj = copy(ekfSlamObj);

Specify the landmark number to be removed.

removeLandmark(newEkfSlamObj,3);
landmarkInfo(newEkfSlamObj)

ans=3×3 table
    landmark number    landmark state index    landmark position
    _______________    ____________________    _________________

           1                  4    5            15.85    -12.95 
           2                  6    7           25.245    -15.47 
           3                  8    9           16.569    2.7466 

Input Arguments

slamObj — EKF SLAM object

ekfSLAM object

EKF SLAM object, specified as an ekfSLAM object.

Output Arguments

newSlamObj — Copy of EKF SLAM object

ekfSLAM object

Copy of the EKF SLAM object, returned as an ekfSLAM object.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2021b