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Set cost value of cells in vehicle costmap



setCosts(costmap,xyPoints,costVals) sets the costs, costVals, for the (x, y) points in xyPoints in the vehicle costmap.


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Create a 10-by-15 meter vehicle costmap. Cells have a side length of 1 meter.

costmap = vehicleCostmap(10,15);

Define a set of (x,y) coordinates that correspond to a 3-by-5 meter rectangle.

[x,y] = meshgrid(2:4,2:6);
xyPoints = [x(:),y(:)];

Mark the rectangle as an obstacle by increasing the cost of its cells to 0.9.

costVal = 0.9;
title('Costmap with Rectangular Obstacle')

Figure contains an axes. The axes with title Costmap with Rectangular Obstacle contains 2 objects of type image, patch. This object represents Inflated Areas.

Input Arguments

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Costmap, specified as a vehicleCostmap object.

Points, specified as an M-by-2 real-valued matrix that represents the (x, y) coordinates of M points.

Example: [3.4 2.6] specifies a single point at (3.4, 2.6)

Example: [3 2;3 3;4 7] specifies three points: (3, 2), (3, 3), and (4, 7)

Cost of points in xyPoints, specified as an M-element real-valued vector.

Example: 0.8 specifies the cost of a single point

Example: [0.2 0.5 0.8] specifies the cost of three points

Extended Capabilities

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

Introduced in R2018a