You are an expert in writing code in many different languages. Your goal is to perform code completion for the following code, keeping in mind the rest of the code and the file meta data.
    Metadata details:
    filename: PlanTest.m
    path of file: ./repos/robotics-toolbox-matlab/unit_test
    
    the code of the file until where you have to start completion: function tests = PlanTest
  tests = functiontests(localfunctions);
end

function setupOnce(tc)
    clc
    loa
    
function prm_test(tc)

    randinit
    nav = PRM(tc.TestData.map);
        tc.verifyInstanceOf(nav, 'PRM');

    s = nav.char();
    verifyTrue(tc, ischar(s) );

    nav.plot();

    nav.plan();
    nav.plot();
    
    p = nav.query(tc.TestData.start, tc.TestData.goal);
    
    tc.verifyTrue(size(p,2) == 2, 'plan must have 2 columns');
    tc.verifyEqual(p(1,:), tc.TestData.start, 'start point must be on path');
    tc.verifyEqual(p(end