mirror
mirror a motion primitive along the given symmetry axis
Contents
Syntax
Description
Mirrors a motion primitive along the given symmetry axis for states, inputs, and occupancy set. The function can for example be used to construct a equivlalent "turn-left" motion primitive from a "turn-right" motion primitive without running controller synthesis again. This is especially useful for constructing large maneuver automata.
Input Arguments
|
obj |
object of class comfContrMPC |
|
states |
indices of the states that are mirrored |
|
inputs |
indices of the inputs that are mirrored |
Output Arguments
|
res |
mirrored motion primitive (class comfContrMPC) |
See Also
safetyNetControl, comfContrMPC
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