# shiftOccupancySet_mobileRobot

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

## Contents

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

## 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

© 2018-2023 I6 Technische Universität München `•` Website `•` License