# postprocessing_quadrotor2D

comp. the occupancy set from the reach. set

## Contents

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

## Syntax

R = postprocessing_quadrotor2D(R)

## Description

This function computes the set occupied by the quadrotor form the computed reachable set. The occupancy set is later on used for collision checking during online application of the Manuever Automaton. For the quadrotor2D benchmark, the reachable set is projected to the position states and bloated by the size of the quadrotor.

## Input Arguments

R | cell-array storing the reachable set

## Output Arguments

R | cell-array storing the transformed reachable set

## See Also

`quadrotor2D`, maneuverAuotomaton

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