# motionPlanner

plan a verified trajectoy with a Maneuver Automaton

## Contents

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

## Syntax

ind = motionPlanner(obj,x0,goalSet,statObs,dynObs,search)
ind = motionPlanner(obj,x0,goalSet,statObs,dynObs,search,costFun)
ind = motionPlanner(obj,x0,goalSet,statObs,dynObs,search,costFun,goalFun)

## Description

This function solves a control task by planning a verified trajectoy with a Maneuver Automaton. In particular, the verified trajectory avoids the static and dynamic obstacles and drives the system to the goal set.

## Input Arguments

obj | Maneuver automaton (class: maneuverAutomaton)
x0 | initial state
goalSet | goal set which should be reached
statObs | cell-array storing the static obstacles
dynObs | cell-array storing the dynamic obstacles
search | search algorithm to be used (`'breadth-first'`, ...; `'depth-first'`, or `'Astar'`)
costFun | custom cost function for A*-search.
goalFun | custom goal check function

## Output Arguments

ind | vector storing the indices of the motion primitives that are concatanated to obtain the verified trajectory

## See Also

maneuverAuotomaton

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