This example shows how to validate paths through an evironment.

Load example maps. Use the simple map to create a binary occupancy map.

loadexampleMaps.matmap = occupancyMap(simpleMap); show(map)

Specify a coarse path through the map.

path = [2 2 pi/2; 10 15 0; 17 8 -pi/2]; holdonplot(path(:,1),path(:,2),"--o")

Create a state validator using thestateSpaceSE2definition. Specify the map and the distance for interpolating and validating path segments.

validator = validatorOccupancyMap(stateSpaceSE2); validator.Map = map; validator.ValidationDistance = 0.1;

Check the points of the path are valid states. All three points are in free space, so are considered valid.

isValid = isStateValid(validator,path)

isValid =3x1 logical array1 1 1

Check the motion between each sequential path states. TheisMotionValidfunction interpolates along the path between states. If a path segment is invalid, plot the last valid point along the path.

startStates = [path(1,:);path(2,:)]; endStates = [path(2,:);path(3,:)];fori = 1:2 [isPathValid, lastValid] = isMotionValid(validator,startStates(i,:),endStates(i,:));if~isPathValid plot(lastValid(1),lastValid(2),'or')endendholdoff