addlink
Description
adds links between one or more state pairs in the input graph specified as a linkIDs
= addlink(graph
,statePairs
)navGraph
object.
adds links between two states in the graph and adds the associated metadata information to
the links table of the input graph. Use this syntax when the links table has multiple
columns with metadata, such as linkIDs
= addlink(graph
,statePairs
,metadata
1,...metadata
N)Weights
, in addition to the state pairs.
However, the first column of the table must always specify the state pairs to be
connected.
Examples
Add Links Between Two States in Graph
Load navGraph
object into MATLAB® workspace and inspect its properties.
load("navGraphData.mat")
disp(navGraphObj)
navGraph with properties: States: [8x3 table] Links: [7x3 table] LinkWeightFcn: @nav.algs.distanceEuclidean
Inspect the states table of the graph.
disp(navGraphObj.States)
StateVector Name Lanes _______________________ _____ _____ 8 2 0.72176 {'A'} 2 1 1 0.29188 {'B'} 2 7 7 0.91777 {'C'} 2 8 10 0.71458 {'D'} 2 5 1 0.54254 {'E'} 2 3 6 0.14217 {'F'} 2 2 9 0.37334 {'G'} 3 8 7 0.67413 {'H'} 2
Inspect the links table of the graph. The first column contains the indices of states from the states table. The two-element vectors in the first column of the table represent the pairs of states that are connected. Note that the links table also contains 'Weight
' and 'Curvature
' metadata in addition to the connected state pairs.
disp(navGraphObj.Links)
EndStates Weight Curvature _________ ______ _________ 1 3 1.5089 0.0034635 3 7 8.921 0.0063649 5 4 2.387 0.0060558 6 2 19.452 0.0041751 7 1 38.776 0.0051347 7 8 13.938 0.0076324 8 2 43.893 0.0031493
Display the graph.
show(navGraphObj)
From the graph, you can infer that the states 'D
' and 'E
' are not connected to any other states, and no path exists when a start or goal point lies on one of these states. To connect these states, use the addlink
function. Specify the state pairs to be connected using either the indices or state names from the states table.
Specify State Indices to Add Links
From the states table of the input graph you can find that the indices for the states with names "E
" and "F
" are 5 and 6, respectively. Specify these indices as input to connect states "E
" and "F
".
Id = addlink(navGraphObj,[5 6],2.5,0.001)
Id = 4
Inspect the updated links table for new states and the related metadata. Note that the state indices of the new state pairs are added to the fifth row of the links table. The entries in the links table are sorted according to the index of the first state in each state pair listed in the first column. The rows that have the same index for the first state are sorted based on the index of the second state in each state pair.
disp(navGraphObj.Links)
EndStates Weight Curvature _________ ______ _________ 1 3 1.5089 0.0034635 3 7 8.921 0.0063649 5 4 2.387 0.0060558 5 6 2.5 0.001 6 2 19.452 0.0041751 7 1 38.776 0.0051347 7 8 13.938 0.0076324 8 2 43.893 0.0031493
Display the updated graph. Now all the states in the input graph are connected, you can compute path for any start and goal point that lie between these states.
show(navGraphObj)
Specify State Names to Add Links
Add a link between states with names "C
" and "D
". In addition to the state pair, you must also specify the value for associated Weight
and Curvature
metadata in the links table.
Id = addlink(navGraphObj,["C" "D"],5,0.004)
Id = 2
Inspect the updated links table for new state pairs and the related metadata. Note that the state indices of the new state pairs are added to the second row of the links table.
disp(navGraphObj.Links)
EndStates Weight Curvature _________ ______ _________ 1 3 1.5089 0.0034635 3 4 5 0.004 3 7 8.921 0.0063649 5 4 2.387 0.0060558 5 6 2.5 0.001 6 2 19.452 0.0041751 7 1 38.776 0.0051347 7 8 13.938 0.0076324 8 2 43.893 0.0031493
show(navGraphObj)
Add Links Between Multiple States in Graph
Load navGraph
object into MATLAB® workspace and inspect its properties.
load("navGraphData.mat")
disp(navGraphObj)
navGraph with properties: States: [8x3 table] Links: [7x3 table] LinkWeightFcn: @nav.algs.distanceEuclidean
Inspect the states table of the graph.
disp(navGraphObj.States)
StateVector Name Lanes _______________________ _____ _____ 8 2 0.72176 {'A'} 2 1 1 0.29188 {'B'} 2 7 7 0.91777 {'C'} 2 8 10 0.71458 {'D'} 2 5 1 0.54254 {'E'} 2 3 6 0.14217 {'F'} 2 2 9 0.37334 {'G'} 3 8 7 0.67413 {'H'} 2
Inspect the links table of the graph. The first column contains the indices of states from the states table. The two-element vectors in the first column of the table represent the pairs of states that are connected. Note that the links table also contains 'Weight
' and 'Curvature
' metadata in addition to the connected state pairs.
disp(navGraphObj.Links)
EndStates Weight Curvature _________ ______ _________ 1 3 1.5089 0.0034635 3 7 8.921 0.0063649 5 4 2.387 0.0060558 6 2 19.452 0.0041751 7 1 38.776 0.0051347 7 8 13.938 0.0076324 8 2 43.893 0.0031493
Display the graph. From the graph, you can infer that the states 'D
' and 'E
' are not connected to any other states, and no path exists when a start or goal point lies on one of these states.
show(navGraphObj)
Add links between these state pairs:
States with names "
C
" and "D
".States with names "
E
" and "F
".States with names "
H
" and "D
"
In addition to the state pairs, you must also specify the values for associated Weight
and Curvature
metadata in the links table. The function returns the indices of the new state pairs in the links table.
Id = addlink(navGraphObj,["C" "D";"E" "F";"H" "D"],[5;2.5;50],[0.005;0.003;0.004])
Id = 3×1
2
5
10
Inspect the updated links table for new state pairs and their associated metadata. Note that the state indices of the new state pairs are added to the second, fifth, and tenth rows of the links table. The entries in the links table are sorted according to the index of the first state in each state pair listed in the first column. The rows that have the same index for the first state are sorted based on the index of the second state in each state pair.
disp(navGraphObj.Links)
EndStates Weight Curvature _________ ______ _________ 1 3 1.5089 0.0034635 3 4 5 0.005 3 7 8.921 0.0063649 5 4 2.387 0.0060558 5 6 2.5 0.003 6 2 19.452 0.0041751 7 1 38.776 0.0051347 7 8 13.938 0.0076324 8 2 43.893 0.0031493 8 4 50 0.004
Display the updated graph.
show(navGraphObj)
Input Arguments
graph
— Graph object
navGraph
object
Graph object, specified as a navGraph
object.
Data Types: double
statePairs
— Indices or names of states to be linked
two-element column vector | M-by-2 matrix | cell array of strings
Indices or names of the states to be linked, specified as a two-element column vector, M-by-2 matrix, or a cell array of strings. The indices or names of the states to be linked must be taken from the states table of the input graph. M specifies the number of state pairs to be linked.
The values in the column vector or matrix can be
Numeric data, specifying the indices of the states to be connected. For example, when you specify
statePairs
as [1 3], the function connects the states listed in the first and third rows of the states table of the input graph.String data, specifying the names of the states to be connected. For example, when you specify
statePairs
as ["A" "B"], the function fetches states with names "A" and "B" from the states table of the input graph and connects those two states.
Note
If the specified state pairs already exist in the links table of the input graph, the function will not add the duplicate pair to the graph.
Data Types: single
| double
| int8
| int16
| int32
| int64
| uint8
| uint16
| uint32
| uint64
| string
| cell
metadata
— Metadata containing additional information
numeric array | cell array of character vectors | string array | cell array of strings
Metadata containing additional information about the links connecting the states, specified as a numeric array, cell array of character vectors, string array, or cell array of strings.
Data Types: double
| string
| cell
Output Arguments
linkIDs
— Link identifiers
column vector of positive integers
Link identifiers, returned as a column vector of positive integers. Link identifiers represent the indices of the state pairs added to the links table of the graph. The length of the vector specifies the number of new state pairs that are linked in the graph.
The addlink
function sorts the rows of the links table in
ascending order based on the index of the first state in each state pair listed in the
first column of the table. If two or more rows have the same index for the first state,
the function will then sort those rows according to the index of the second state in
each state pair.
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
For code generation,
Declare states variable in the
States
table of thenavGraph
object as a variable-size data, prior to constructing the table.coder.varsize("states")
State names are not supported.
Specify state pairs as numeric array.
Version History
Introduced in R2024a
See Also
addstate
| rmstate
| rmlink
| findlink
| findstate
| index2state
| state2index
| successors
| show
| copy
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