%% Mark Rectangular Obstacle on Vehicle Costmap
% 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;
setCosts(costmap,xyPoints,costVal);
plot(costmap)
title('Costmap with Rectangular Obstacle')

% Copyright 2012 The MathWorks, Inc.