State validator based on 2-D costmap
The validatorOccupancyMap
object validates states and discretized
motions based on the value in a 2-D costmap. An occupied map location is interpreted as an
invalid state.
creates a vehicle cost map validator associated with an SE2 state space with default
settings.validator
= validatorVehicleCostmap
creates a validator in the given state space definition derived from validator
= validatorVehicleCostmap(stateSpace
)nav.StateSpace
.
sets
the validator
= validatorVehicleCostmap(stateSpace
,xyIndices
)XYIndices
property to specify which variables in the state
vector define the xy-coordinates.
specifies the validator
= validatorVehicleCostmap(stateSpace
,Name,Value
)Map
or XYIndices
properties
using Name,Value
pair arguments.
copy | Create deep copy of state validator object |
isStateValid | Check if state is valid |
isMotionValid | Check if path between states is valid |
nav.StateSpace
| nav.StateValidator
| stateSpaceSE2
| validatorOccupancyMap