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: hybridAStar_Trailer.m
    path of file: ./repos/ADAS_Functions_MATLAB/PathPlanning
    
    the code of the file until where you have to start completion: classdef hybridAStar_Trailer < handle
    
    % Hybrid AStar Algorithm for Car Trailer System
    %
    % Author: Junyu Zhou
    %
    % Reference: Practical Search Techniques in Path Planning for Autonomous Driving
    %
    % Copyright (c) 2020, Junyu Zhou
    % All rights reserved.
    % License : Modified BSD Software License Agreement
    
    properties
        % parameters of car and trailer
        CarLength
        CarWidth
        WheelBase
        WheelTrack
        TrailerBase
        TrailerTrack
        
        % map parameters
        MapDimX
        MapDimY
        StartPoint
        GoalPoint
        Obstacle
        
        % resolution of A* algorithm
        TickXY
        TickAngle
        
        % calculated path
        Path
        SteeringWheel
        
    end
    
    methods
        
        function obj = hybridAStar_Trailer(CarLength, CarWidth, WheelBase, ...
                WheelTrack, TrailerBase, TrailerTrack)
            if nargin == 6
                obj.CarLength = CarLength;
                obj.CarWidth = CarWidth
    
function setObstacle(obj, obstacles)
            if nargin == 1
                ob = [];
                for i1 = 0:8
                    ob = [ob; [i1 17]];
                end
                
                for i1 = 18:20
                    ob = [ob; [i1 17]];
                end
                
                for i1 = 18:20
                    ob = [ob; [8 i1]];
                end
                
                for i1 = 18:20
                    ob = [ob; [18 i1]];
                end
                
                
                for i1 = 0:8
                    ob = [ob; [i1 7]];
                end
                
                for i1 = 12:20
                    ob = [ob; [i1 7]];
                end
                
                for i1 = 0:7
                    ob = [ob; [8 i1]];
                end
                
                for i1 = 0:7
                    ob = [ob; [12 i1]];
                end
                
                for i1=0:(obj.MapDimX)
                    ob=[ob;[i1 12]];
                end
                
                obj.Obstacle = [obj.Obstacle; ob];
            else
                obj.Obstacle = [obj.Obstacle; obstacles];
            end
            
        end
        
    end
    
    methods (Access = private)
        
        function result = h(obj, a, b) % heuristic function of 2D Euclid distance
            result=norm(a(1:2)-b(1:2));
        end