# plot

Plot planned vehicle path

## Syntax

``plot(refPath)``
``plot(refPath,Name,Value)``

## Description

example

````plot(refPath)` plots the planned vehicle path.```
````plot(refPath,Name,Value)` specifies options using one or more name-value pair arguments. For example, `plot(path,'Vehicle','off')` plots the path without displaying the vehicle.```

## Examples

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Plan a vehicle path through a parking lot by using the optimal rapidly exploring random tree (RRT*) algorithm. Check that the path is valid, and then plot the transition poses along the path.

Load a costmap of a parking lot. Plot the costmap to see the parking lot and inflated areas for the vehicle to avoid.

```data = load('parkingLotCostmap.mat'); costmap = data.parkingLotCostmap; plot(costmap)```

Define start and goal poses for the vehicle as [x, y, Θ] vectors. World units for the (x,y) locations are in meters. World units for the Θ orientation angles are in degrees.

```startPose = [4, 4, 90]; % [meters, meters, degrees] goalPose = [30, 13, 0];```

Use a `pathPlannerRRT` object to plan a path from the start pose to the goal pose.

```planner = pathPlannerRRT(costmap); refPath = plan(planner,startPose,goalPose);```

Check that the path is valid.

`isPathValid = checkPathValidity(refPath,costmap)`
```isPathValid = logical 1 ```

Interpolate the transition poses along the path.

`transitionPoses = interpolate(refPath);`

Plot the planned path and the transition poses on the costmap.

```hold on plot(refPath,'DisplayName','Planned Path') scatter(transitionPoses(:,1),transitionPoses(:,2),[],'filled', ... 'DisplayName','Transition Poses') hold off```

## Input Arguments

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Planned vehicle path, specified as a `driving.Path` object.

### Name-Value Arguments

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 enclose `Name` in quotes.

Example: `'Inflation','off'`

Axes object in which to draw the plot, specified as the comma-separated pair consisting of `'Parent'` and an `axes` object. If you do not specify `Parent`, a new figure is created.

Display vehicle, specified as the comma-separated pair consisting of `'Vehicle'` and `'on'` or `'off'`. Setting this argument to `'on'` displays the vehicle along the path.

Dimensions of the vehicle, specified as the comma-separated pair consisting of `'VehicleDimensions'` and a `vehicleDimensions` object.

Name of the entry in the legend, specified as the comma-separated pair consisting of `'DisplayName'` and a character vector or string scalar.

Path color, specified as the comma-separated pair consisting of `'Color'` and a color name, short color name, or RGB triplet.

For a custom color, specify an RGB triplet. An RGB triplet is a three-element row vector whose elements specify the intensities of the red, green, and blue components of the color. The intensities must be in the range `[0,1]`; for example, ```[0.4 0.6 0.7]```. Alternatively, you can specify some common colors by name. This table lists the named color options and the equivalent RGB triplet values.

Color NameColor Short NameRGB TripletAppearance
`'red'``'r'``[1 0 0]`

`'green'``'g'``[0 1 0]`

`'blue'``'b'``[0 0 1]`

`'cyan'` `'c'` `[0 1 1]`

`'magenta'``'m'``[1 0 1]`

`'yellow'``'y'``[1 1 0]`

`'black'``'k'``[0 0 0]`

`'white'``'w'``[1 1 1]`

Example: `'Color',[1 0 1]`

Example: `'Color','m'`

Example: `'Color','magenta'`

Tag to identify path, specified as the comma-separated pair consisting of `'Tag'` and a character vector or string scalar.

## Version History

Introduced in R2018a