fix this code to run on matlab

$\%$ Load a pre$-$generated occupancy map $($replace with your own$)$

load$(\text{'}$office$\_$area$\_$gridmap.mat',"occGrid"$)$

show$($occGrid$)$;

$\%$ Specify start and goal poses $($adjust as needed$)$

startPose $=[2,3,-$pi$]$; $\%$ starting coordinates

goalPose $=[15,8,0]$; $\%$ goal coordinates

$\%$ Visualize the map with start and goal

figure;

hold on;

plot$($startPose$(1),$ startPose$(2),\text{'}$go$\text{'})$; $\%$ Green start marker

plot$($goalPose$(1),$ goalPose$(2),\text{'}$ro$\text{'})$; $\%$ Red goal marker

$\%$ show start and goal heading

r $=0\mathrm{.}6$;

plot$([$startPose$(1),$ startPose$(1)+$ r$*$cos$($startPose$(3))],[$startPose$(2),$ startPose$(2)+$ r$*$sin$($startPose$(3))],\text{'}$g$-\text{'})$

plot$([$goalPose$(1),$ goalPose$(1)+$ r$*$cos$($goalPose$(3))],[$goalPose$(2),$ goalPose$(2)+$ r$*$sin$($goalPose$(3))],\text{'}$r$-\text{'})$

hold off;

title$(\text{'}$Occupancy Map with Start and Goal'$)$;

$\%$ Create a state space for a Dubins car $($simple model with turning radius$)$

$\%$ Set the state bounds of the map $($adjust to match your occupancy map$)$

$\%$ Set the state bounds of the map $($adjust to match your occupancy map$)$

$\%$ Specify the turning radius

ss $=$ stateSpaceDubins;

ss$.$MinTurningRadius $=0\mathrm{.}5$;

ss$.$StateBounds $=[$occGrid$.$XWorldLimits; occGrid.YWorldLimits; $[-$pi pi$]]$;

$\%$ Create an occupancy map validator $($checks collisions$)$

stateValidator $=$ validatorOccupancyMap$($ss$)$;

stateValidator.Map $=$ occGrid;

stateValidator.ValidationDistance $=0\mathrm{.}2$; $\%$ Reduce for finer path checking

$\%$ Create the RRT planner

planner $=$ plannerRRT$($ss$,$ stateValidator$)$;

planner.MaxConnectionDistance $=2$; $\%$ Adjust connection distance

planner.MaxIterations $=30400$;

planner.GoalReachedFcn $=$ @isGoalReached; $\%$ Custom goal$-$checking function

$\%$ Plan the path

$[$pthObj$,$ solnInfo$]=$ plan$($planner$,$ startPose, goalPose$)$;

$\%$ Plot the planned path

figure ;

show$($occGrid$)$;

hold on;

plot$($solnInfo$.$TreeData$($:$,1),$ solnInfo.TreeData$($:$,2),\text{'}.-\text{'})$; $\%$ Tree

plot$($pthObj$.$States$($:$,1),$ pthObj.States$($:$,2),\text{'}$r$-\text{'})$; $\%$ Path

plot$($startPose$(1),$ startPose$(2),\text{'}$go$\text{'})$;

plot$($goalPose$(1),$ goalPose$(2),\text{'}$ro$\text{'})$;

hold off;

title$(\text{'}$Planned Path with RRT$\text{'})$;