www.gusucode.com > robotics 案例源码程序 matlab代码 > robotics/CreateOrUpdatePRMExample.m
%% Create or Update PRM % Create or update your roadmap. To create the roadmap, call % |prm = robotics.PRM(map,__)| or specify the |Map| property on the |PRM| % object. Then, call the |update|, |findpath|, or |show| method. At this % point, the nodes are randomly generated and the connections are made. % % % This roadmap changes only if you call update or change the properties in % the |PRM| object. When properties change, any method (|update|, |findpath|, % or |show|) called on the object triggers the roadmap points and connections % to be recalculated. Because recalculating the map can be computationally % intensive, you can reuse the same roadmap by calling |findpath| with % different starting and ending locations. %% % Load a map file and create an occupancy grid. filePath = fullfile(fileparts(which('PathPlanningExample')),'data','exampleMaps.mat'); load(filePath) map = robotics.BinaryOccupancyGrid(simpleMap,2); %% % Create a roadmap. Your nodes and connections might look different due to % the random placement of nodes. prm = robotics.PRM(map,100); show(prm) %% % Call |update| or change a parameter to update the |PRM| nodes and connections. update(prm) show(prm) % The PRM algorithm recalculates the node placement and generates a new network of nodes.