# collisionChecker

check if the occupancy set collides with obstacles

## Contents

- Syntax
- Description
- Input Arguments
- Output Arguments
- See Also

## Syntax

res = collisionChecker(occSet,statObs,dynObs)

## Description

This function checks if the occupancy set intersects static or dynamic obstacles.

## Input Arguments

occSet | cell-array storing the occupancy set
statObs | cell-array storing the static obstacles
dynObs | cell-array storing the dynamic obstacles

## Output Arguments

res | flag specifying if there was a collision or not (0 if collision, 1 if not)

## See Also

`maneuverAutomaton`

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