Azzera filtri
Azzera filtri

Obtain vehicleCostMap from drivingScenario

3 visualizzazioni (ultimi 30 giorni)
redwan
redwan il 28 Apr 2018
Commentato: FP24 il 23 Lug 2018
Hello,
Is there any way to obtain vehicleCostmap object from drivingScenario object. I've added one ego Car and one barrier in my driving scenario. I would like to obtain a vehicleCostmap which only assumes that the only cost to drive is the barrier in the road. I'm using a straight road with no lanes. Without vehicleCostMap, plan, pathplannerRRT will not work, according to the document.
Please help me. Thanks in advance.

Risposte (1)

Anand
Anand il 4 Giu 2018
There is no direct ability to do this. There are two ways to accomplish this however:
  1. Create a 2D matrix with the values in your map and create a vehicleCostmap object.
  2. Create a 'blank' vehicleCostmap object and populate it with the barriers using the setCosts function.
% Create a 2D matrix with the barricades.
C = 0.1*ones(100, 100);
C(30:35,50:90) = 0.8;
% Construct a vehicleCostmap object
costmap1 = vehicleCostmap(C);
% Plot created costmap
figure, plot(costmap1)
% Create a vehicleCostmap object 100m-by-100m
costmap2 = vehicleCostmap(100, 100, 'CellSize', 1);
% Mark a rectangular obstacle
[xx,yy] = meshgrid(50:90, 65:70);
xyPoints = [xx(:),yy(:)];
setCosts(costmap2, xyPoints, 0.8);
% Plot created costmap
figure, plot(costmap2)
  1 Commento
FP24
FP24 il 23 Lug 2018
I don't think this answers the question, in which I'm interested too

Accedi per commentare.

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by