copy

Create deep copy of EKF SLAM object

Since R2021b

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    Syntax

    newSlamObj = copy(slamObj)

    Description

    newSlamObj = copy(slamObj) creates a deep copy of slamObj with the same properties. Any changes made to newSlamObj are not reflected in slamObj.

    example

    Examples

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    Open Live Script

    Specify the initial vehicle state.

    initialState = [1; -2; 0.1];

    Specify the initial landmark positions.

    landmarkPosition = [15.8495; -12.9496;
                    25.2455; -15.4705;
                    37.5880;   3.1023;
                    16.5690;   2.7466];

    Specify the initial vehicle state covariance.

    initialStateCovar = diag([0.1*ones(1,3) 1.1*ones(1,8)]);

    Create an ekfSLAM object with initial state and initial state covariance.

    ekfSlamObj = ekfSLAM('State',[initialState; landmarkPosition], ...
                     'StateCovariance',initialStateCovar);
landmarkInfo(ekfSlamObj)
    ans=4×3 table
    landmark number    landmark state index    landmark position
    _______________    ____________________    _________________

           1                  4     5           15.85    -12.95 
           2                  6     7          25.245    -15.47 
           3                  8     9          37.588    3.1023 
           4                 10    11          16.569    2.7466

    Create a deep copy of the ekfSLAM object.

    newEkfSlamObj = copy(ekfSlamObj);

    Specify the landmark number to be removed.

    removeLandmark(newEkfSlamObj,3);
landmarkInfo(newEkfSlamObj)
    ans=3×3 table
    landmark number    landmark state index    landmark position
    _______________    ____________________    _________________

           1                  4    5            15.85    -12.95 
           2                  6    7           25.245    -15.47 
           3                  8    9           16.569    2.7466

    Input Arguments

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    EKF SLAM object, specified as an ekfSLAM object.

    Output Arguments

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    Copy of the EKF SLAM object, returned as an ekfSLAM object.

    Extended Capabilities

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    C/C++ Code Generation
    Generate C and C++ code using MATLAB® Coder™.

    Version History

    Introduced in R2021b

    See Also

    Objects

    Functions