copy

R2026b

Class: nav.StatePropagator
Namespace: nav

Create deep copy of state propagator object

Syntax

spObj2 = copy(spObj1)

Description

spObj2 = copy(spObj1) creates a deep copy of the specified state propagator object.

Input Arguments

spObj1 — State propagator object to be copied

object of subclass of nav.StatePropagator

State propagator object to be copied, specified as an object of a subclass of nav.StatePropagator.

Output Arguments

spObj2 — Copy of state propagator object

object of subclass of nav.StatePropagator

Copy of the state propagator object, returned as an object of the same class as spObj1.

Attributes

Abstract

true

To learn about attributes of methods, see Method Attributes.

Examples

Create Deep Copy of Custom State Propagator

Create a default object of type mobileRobotPropagator, a subclass of nav.StatePropagator.

Load a ternary map matrix from the exampleMaps file, and use the map matrix to create an occupancyMap object. Create the state propagator using the map. By default, the state propagator uses a bicycle kinematic model.

load("exampleMaps","ternaryMap")
map = occupancyMap(ternaryMap,10);

propagator1 = mobileRobotPropagator(Environment=map) % Bicycle model

propagator1 = 
  mobileRobotPropagator with properties:

         GoalDistance: 1
      MaxControlSteps: 10
     SystemParameters: [1×1 struct]
        ControlLimits: [2×2 double]
       KinematicModel: 'bicycle'
           Integrator: 'rungekutta4'
    DistanceEstimator: 'euclidean'
        ControlPolicy: 'linearpursuit'
          Environment: [1×1 occupancyMap]
           StateSpace: [1×1 stateSpaceSE2]
      ControlStepSize: 0.1000
     NumControlOutput: 2

Create a copy of propagator1 and verify that it has the same property values.

propagator2 = copy(propagator1)

propagator2 = 
  mobileRobotPropagator with properties:

         GoalDistance: 1
      MaxControlSteps: 10
     SystemParameters: [1×1 struct]
        ControlLimits: [2×2 double]
       KinematicModel: 'bicycle'
           Integrator: 'rungekutta4'
    DistanceEstimator: 'euclidean'
        ControlPolicy: 'linearpursuit'
          Environment: [1×1 occupancyMap]
           StateSpace: [1×1 stateSpaceSE2]
      ControlStepSize: 0.1000
     NumControlOutput: 2

Verify that the copy is a deep copy by checking that the StateSpace handle properties point to distinct objects in memory. A result of logical 0 confirms they do not share the same underlying data.

propagator1.StateSpace == propagator2.StateSpace

ans = logical
   0

Version History

Introduced in R2021b