enforceStateBounds

Limit state to state space bounds

Since R2021b

Syntax

boundedState = enforceStateBounds(manipSS,state)

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

manipSS — Manipulator state space

manipulatorStateSpace object

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

state — State position

n-element row vector | m-by-n matrix

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

boundedState — State position with enforced state bounds

n-element row vector | m-by-n matrix

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.

Version History

Introduced in R2021b