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enforceStateBounds

Limit state to state space bounds

Description

boundedState = enforceStateBounds(manipSS,state) limits the specified state to the bounds specified by the StateBounds property of the state space object, manipSS, and returns the bounded state, boundedState.

Input Arguments

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Manipulator state space, specified as a manipulatorStateSpace object, which is a subclass of nav.StateSpace (Navigation Toolbox).

State position, specified as an n-element row vector or an m-by-n matrix. n is the dimension of the state space specified in the NumStateVariables property of manipSS. m is the number of initial state positions.

Output Arguments

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State position with enforced state bounds, returned as an n-element vector or m-by-n matrix. n is the dimension of the state space specified in the NumStateVariables property of manipSS. m is the number of initial state positions.

Introduced in R2021b