# plotPlannedTrajectory

plot occupancy set for the planned trajectory

## Contents

- Syntax
- Description
- Input Arguments
- See Also

## Syntax

plotPlannedTrajectory(obj,ind,x0)
plotPlannedTrajectory(obj,ind,x0,time)
plotPlannedTrajectory(obj,ind,x0,time,color,options)

## Description

This function visualizes the occupancy set for a trajectory planned with a maneuver automaton. By default the whole trajectory is visualized, but one can also only visualize the trajectory for a specific time interval.

## Input Arguments

obj | object of class maneuverAutomaton
ind | vector storing the indices of the motion-primitives for the planned trajectory
x0 | initial state for the trajectory
time | time interval for which the trajectory is plotted (class: interval)
color | color for the plot specified as a string (e.g. `'r'`) or as a vector of RGB-values (e.g. [0 1 0])
options | additional MATLAB plot options specified as name-value pairs (e.g. `'LineWidth'`,2)

## See Also

`maneuverAutomaton`

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