commonocean2cora

import CommonOcean xml-file into AROC

Contents

Syntax

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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Published with MATLAB® R2022a