enforceStateBounds
Reduce state to state bounds
Description
reduces the specified states boundedStates
= enforceStateBounds(space
,states
)states
to the state bounds in the
StateBounds
property of the specified state space object
space
.
Examples
Enforce State Bounds for SE(3) States
Create an SE(3) state space object.
space = stateSpaceSE3([-1 1; ... -2 2; ... -10 10; ... -inf inf; ... -inf inf; ... -inf inf; ... -inf inf])
space = stateSpaceSE3 with properties: Name: 'SE3' StateBounds: [7x2 double] NumStateVariables: 7 WeightXYZ: 1 WeightQuaternion: 0.1000
Create a pair of states in 3-D space.
state1 = [2 10 3 2 0 0 0.8]; state2 = [223 100 3 2 2 12 5];
Enforce state bounds for a single state.
boundedState = enforceStateBounds(space,state1)
boundedState = 1×7
1.0000 2.0000 3.0000 2.0000 0 0 0.8000
Enforce state bounds for multiple states.
boundedStates = enforceStateBounds(space,[state1; state2])
boundedStates = 2×7
1.0000 2.0000 3.0000 2.0000 0 0 0.8000
1.0000 2.0000 3.0000 2.0000 2.0000 12.0000 5.0000
Input Arguments
space
— State space object
stateSpaceSE2
object | stateSpaceSE3
object | stateSpaceDubins
object | stateSpaceReedsShepp
object
State space object, specified as a stateSpaceSE2
,
stateSpaceSE3
,
stateSpaceDubins
, or stateSpaceReedsShepp
object.
states
— Unbounded states
n-by-3 matrix of real values | n-by-7 matrix of real values
Unbounded states, specified as an n-by-3 or n-by-7 matrix of real values.
For the 2-D state space objects stateSpaceSE2
,
stateSpaceDubins
, and stateSpaceReedsShepp
, each row is of form [x y theta]
,
which defines the xy-position and orientation angle
theta
of a state in the state space.
For the 3-D state space object stateSpaceSE3
,
each row is of form [x y z qw qx qy qz]
, which defines the
xyz-position and quaternion orientation [qw qx qy
qz]
of a state in the state space.
Data Types: single
| double
Output Arguments
boundedStates
— Bounded states
n-by-3 matrix of real values | n-by-7 matrix of real values
Bounded states, returned as an n-by-3 or
n-by-7 matrix of real values. The value of n is
same as for states
input argument.
The function truncates each of the specified unbounded states to the bounds
specified in the StateBounds
property of the state space object
space
.
For the 2-D state space objects stateSpaceSE2
,
stateSpaceDubins
, and stateSpaceReedsShepp
, each row is of form [x y theta]
,
which defines the xy-position and orientation angle
theta
of the bounded states.
For the 3-D state space object stateSpaceSE3
,
each row is of form [x y z qw qx qy qz]
, which defines the
xyz-position and quaternion orientation [qw qx qy
qz]
of the bounded states.
Data Types: single
| double
Version History
Introduced in R2019b
See Also
stateSpaceSE2
| stateSpaceSE3
| stateSpaceDubins
| stateSpaceReedsShepp
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