Create a 5-by-10 meter vehicle costmap. Cells have side length 1, in the world units of meters. Set the inflation radius to 1. Plot the costmap, and get the default cost matrix.
Mark an obstacle at the (x,y) coordinate (3,4) by increasing the cost of that cell.
setCosts(costmap,[3,4],0.8);
plot(costmap)
title('Costmap with Obstacle at (3,4)')
Get the cost of three cells: the cell with the obstacle, a cell adjacent to the obstacle, and a cell outside the inflation radius of the obstacle.
costVal = getCosts(costmap,[3 4;2 4;4 7])
costVal = 3×1
0.8000
0.4250
0.4250
Although the plot of the costmap displays the cell with the obstacle and its adjacent cells in shades of red, only the cell with the obstacle has a higher cost value of 0.8. The other cells still have the default cost value of 0.425.
costVals — Cost of points M-element real-valued vector
Cost of points in xyPoints, returned as an
M-element real-valued vector.
costMat — Cost of all cells real-valued matrix
Cost of all cells in costmap, returned as a
real-valued matrix of the same size as the costmap grid. This size is
specified by the MapSize property of the costmap.
Extended Capabilities
C/C++ Code Generation Generate C and C++ code using MATLAB® Coder™.
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