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graphData

Retrieve graph as digraph object

    Description

    example

    graph = graphData(planner) retrieves graph as a digraph object. The digraph object is created when the plannerPRM object is created with default or user specified values for the MaxNumNodes and MaxConnectionDistance properties.

    Examples

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    Load an example map into the workspace, and use it to create an occupancy map with a resolution of 10 cells/meter.

    load("exampleMaps.mat","simpleMap");
    map = occupancyMap(simpleMap,10);

    Create a state space object and update the state space bounds to match the map limits.

    ss = stateSpaceSE2;
    ss.StateBounds = [map.XWorldLimits; map.YWorldLimits; [-pi pi]];

    Create a state validator for the occupancy map using the state space object and set the validation distance.

    sv = validatorOccupancyMap(ss,Map=map);
    sv.ValidationDistance = 0.01;

    Create a probabilistic roadmap path planner object.

    planner = plannerPRM(ss,sv);

    Retrieve the network graph as a digraph object.

    graph = graphData(planner);

    Extract the nodes and edges from the graph.

    edges = table2array(graph.Edges);
    nodes = table2array(graph.Nodes);

    Plot the map and graph.

    show(sv.Map)
    hold on
    plot(nodes(:,1),nodes(:,2),"*",Color=[0 0 1],LineWidth=2)
    for i = 1:size(edges,1)
        % Samples states at distance 0.02 meters.
        states = interpolate(ss,nodes(edges(i,1),:), ...
                             nodes(edges(i,2),:),0:0.02:1);
        plot(states(:,1),states(:,2),Color=[0 0 1])
    end

    Figure contains an axes object. The axes object with title Occupancy Grid contains 100 objects of type image, line.

    Input Arguments

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    Path planner, specified as a plannerPRM object.

    Output Arguments

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    Graph data, returned as a digraph object.

    Extended Capabilities

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

    Version History

    Introduced in R2022a

    See Also

    Objects

    Functions