shiftOccupancySet_mobileRobot

shift occup. set to final state of prev. maneuver for the mobile robot

Contents

Syntax

R = shiftOccupancySet_mobileRobot(R,xf,time)

Description

This function shifts the occupancy set of a maneuver to the final state of the maneuver the was previously applied. This is required for collision checking with dynamical obstacles during the online execution of a maneuver automaton.

Input Arguments

R

cell-array storing the occupancy set

xf

final state of the previous maneuver

time

time at the end of the previous maneuver

Output Arguments

R

cell-array storing the shifted occupancy set

See Also

mobileRobot, maneuverAuotomaton


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