帮我编写一段在matlab上运行的RRT代码

好的，让我帮您编写一段在 Matlab 上运行的 RRT 代码。以下是参考代码：

% 定义起点、终点、障碍物等参数
startPoint = [0, 0];
targetPoint = [10, 10];
obstacleList = [4, 4; 5, 4; 6, 4; 4, 5; 5, 5; 6, 5; 4, 6; 5, 6; 6, 6];
maxIter = 1000;
delta = 0.5;

% 初始化树
tree.vertices = startPoint;
tree.edges = [];

% 开始迭代
for i=1:maxIter
    % 生成随机点
    qRand = [rand()*10, rand()*10];
    
    % 查找树中最近的节点
    dmin = inf;
    nearestPoint = tree.vertices(1,:);
    for j = 1:size(tree.vertices, 1)
        d = norm(tree.vertices(j,:) - qRand);
        if d < dmin
            dmin = d;
            nearestPoint = tree.vertices(j,:);
        end
    end
    
    % 生成新节点
    direction = (qRand - nearestPoint)/norm(qRand - nearestPoint);
    newPoint = nearestPoint + delta*direction;
    
    % 检查新节点是否在障碍物中
    if any(inpolygon(newPoint(1), newPoint(2), obstacleList(:,1), obstacleList(:,2)))
        continue;
    end
    
    % 检查新节点是否接近终点
    if norm(newPoint - targetPoint) < delta
        tree.vertices(end+1,:) = targetPoint;
        tree.edges(end+1,:) = [size(tree.vertices, 1)-1, size(tree.vertices, 1)];
        break;
    end
    
    % 将新节点加入树中
    tree.vertices(end+1,:) = newPoint;
    tree.edges(end+1,:) = [find(ismember(tree.vertices, nearestPoint, 'rows')), size(tree.vertices, 1)];
end

% 可视化结果
plot(tree.vertices(:,1), tree.vertices(:,2), 'o')
hold on
for i=1:size(tree.edges,1)
    plot(tree.vertices(tree.edges(i,:),1), tree.vertices(tree.edges(i,:),2), 'b')
end
plot(startPoint(1), startPoint(2), 'ro', 'LineWidth', 2)
plot(targetPoint(1), targetPoint(2), 'rx', 'LineWidth', 2)
axis([-1 11 -1 11])

希望对您有帮助！