%% 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])

% 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)

% Enforce state bounds for multiple states.

boundedStates = enforceStateBounds(space,[state1; state2])

% Copyright 2020 The MathWorks, Inc.