# commonocean2cora

import CommonOcean xml-file into AROC

## Contents

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

## Syntax

[statObs,dynObs,x0,goalSet,waterways, shallows, information] = commonocean2cora(filename)

## Description

This function reads a motion planning problem for an autonomous ship consisting of static and dynamic obstacles as well as an initial state and a goal set from a CommonOcean xml-file.

## Input Arguments

filename | name of the CommonOcean XML-file scenario

## Output Arguments

statObs | cell-array storing the static obstacles
dynObs | cell-array storing the set and the time interval for the dynamic obstacles
x0 | initial point for the planning problem
goalSet | cell-array storing the goal sets and the corresponding time
waterways | cell-array storing the sets for all waterways
shallows | cell-array storing the shallows
information | contains further information extracted from CommonOcean

## See Also

`maneuverAutomaton`

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