# plot

Plot path planned by RRT* path planner

## Syntax

``plot(planner)``
``plot(planner,Name,Value)``

## Description

example

````plot(planner)` plots the path planned by the input `pathPlannerRRT` object. When specified as an input to the `plan` function, this object plans a path using the rapidly exploring random tree (RRT*) algorithm. If a path has not been planned using `plan`, or if properties of the `pathPlannerRRT` planner have changed since using `plan`, then `plot` displays only the costmap of `planner`.```
````plot(planner,Name,Value)` specifies options using one or more name-value pair arguments. For example, `plot(planner,'Tree','on')` plots the poses explored by the RRT* path planner.```

## Examples

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Plan a vehicle path to a parking spot by using the RRT* algorithm.

Load a costmap of a parking lot. Plot the costmap to see the parking lot and inflated areas for the vehicle to avoid.

```data = load('parkingLotCostmapReducedInflation.mat'); costmap = data.parkingLotCostmapReducedInflation; plot(costmap)```

Define start and goal poses for the path planner as [x, y, Θ] vectors. World units for the (x,y) locations are in meters. World units for the Θ orientation values are in degrees.

```startPose = [11, 10, 0]; % [meters, meters, degrees] goalPose = [31.5, 17, 90];```

Create an RRT* path planner to plan a path from the start pose to the goal pose.

```planner = pathPlannerRRT(costmap); refPath = plan(planner,startPose,goalPose);```

Plot the planned path.

`plot(planner)`

## Input Arguments

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RRT* path planner, specified as a `pathPlannerRRT` object.

### Name-Value Arguments

Specify optional comma-separated pairs of `Name,Value` arguments. `Name` is the argument name and `Value` is the corresponding value. `Name` must appear inside quotes. You can specify several name and value pair arguments in any order as `Name1,Value1,...,NameN,ValueN`.

Example: `'Vehicle','off'`

Axes object in which to draw the plot, specified as the comma-separated pair consisting of `'Parent'` and an `axes` object. If you do not specify `Parent`, a new figure is created.

Display exploration tree, specified as the comma-separated pair consisting of `'Tree'` and `'off'` or `'on'`. Setting this value to `'on'` displays the poses explored by the RRT* path planner, `planner`.

Display vehicle, specified as the comma-separated pair consisting of `'Vehicle'` and `'on'` or `'off'`. Setting this value to `'off'` disables the vehicle displayed along the path planned by the RRT* path planner, `planner`.

### Topics

Introduced in R2018a