load exampleMaps.mat
whos *Map*
map = binaryOccupancyMap(simpleMap,2);
show(map)

robotRadius = 0.2;
mapInflated = copy(map);
inflate(mapInflated,robotRadius);

show(mapInflated)
prm = mobileRobotPRM;
prm.Map = mapInflated;
prm.NumNodes = 50;
prm.ConnectionDistance = 5;

startLocation = [2 1];
endLocation = [12 10];
path = findpath(prm, startLocation, endLocation)
show(prm)


while isempty(path)
    % No feasible path found yet, increase the number of nodes
    prm.NumNodes = prm.NumNodes + 10;

    % Use the |update| function to re-create the PRM roadmap with the changed
    % attribute
    update(prm);

    % Search for a feasible path with the updated PRM
    path = findpath(prm, startLocation, endLocation);
end
%%
load exampleMaps.mat
whos *Map*
map = binaryOccupancyMap(simpleMap,2);
show(map)

robotRadius = 0.2;
mapInflated = copy(map);
inflate(mapInflated,robotRadius);

show(mapInflated)
prm = mobileRobotPRM;
prm.Map = mapInflated;
prm.NumNodes = 50;
prm.ConnectionDistance = 5;

show(mapInflated)

prm.Map = mapInflated;
prm.NumNodes = 20;
prm.ConnectionDistance = 15;

startLocation = [3 3];
endLocation = [45 35];
path = findpath(prm, startLocation, endLocation);

while isempty(path)
    % No feasible path found yet, increase the number of nodes
    prm.NumNodes = prm.NumNodes + 10;

    % Use the |update| function to re-create the PRM roadmap with the changed
    % attribute
    update(prm);

    % Search for a feasible path with the updated PRM
    path = findpath(prm, startLocation, endLocation);
end