Create a state validator object for collision checking.
sv = validatorOccupancyMap(ss);
Assign the map to the state validator object.
sv.Map = map;
Plan and Visualize Path
Initialize the plannerHybridAStar object with the state validator object. Specify the MinTurningRadius and MotionPrimitiveLength properties of the planner.
Define start and goal poses for the vehicle as [x, y, theta] vectors. x and y specify the position in meters, and theta specifies the orientation angle in radians.
Specify optional pairs of arguments as
Name1=Value1,...,NameN=ValueN, where Name is
the argument name and Value is the corresponding value.
Name-value arguments must appear after other arguments, but the order of the
pairs does not matter.
Before R2021a, use commas to separate each name and value, and encloseNamein quotes.
Example: 'Positions','none'
Axes used to plot path, specified as the comma-separated pair consisting of
'Parent' and either an axes or uiaxes object. If you do not specify
'Parent', a new figure is created.
Display expansion tree option, specified as the comma-separated pair consisting of
'Tree' and either 'on' or
'off'.
Example: show(planner,'Tree','off')
Data Types: string
Display planned path option, specified as the comma-separated pair consisting of
'Path' and either 'on' or
'off'.
Example: show(planner,'Path','off')
Data Types: string
Display the start and goal points, specified as the comma-separated pair
consisting of 'Positions' and one of the following:
'start' — Display the start point.
'goal' — Display the goal point.
'both' — Display the start and goal points.
'none' — Do not display any points.
Example: show(planner,'Positions','start')
Data Types: string
Length of heading, specified as positive numeric scalar. No poses will be
visualized when this value is set to 0.
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