Get/plot convex hulls corresponding to a Monte-Carlo simulation
============================================================================
Computes (and plots) the convex hull of the Monte-Carlo simulated trajectories
at each time step within the horizon. This function is typically useful in
conjunction with generateMonteCarloSims to understand the spread of the
Monte-Carlo simulated trajectories.
Usage: See examples/dubinsSReachPoint.m
=============================================================================
set_of_ellipsoids = polytopesFromMonteCarloSims(...
concat_state_realization, state_dim, relv_states, plot_options)
Inputs:
-------
concat_state_realization
- Matrix of concatenated state (column) vectors stacked
columnwise. Each column has the state trajectory
[x_1; x_2; ...; x_N]
state_dim - State dimension
relv_states - A two-element vector with indices of relevant states
among the states indexed from 1 to state_dim
plot_options - Plot options (MPT3 Polyhedron/plot) that are directly
passed to the plot. Leave empty if plotting is undesired
Outputs:
--------
set_of_polytopes - Set of polytopes comprised of the points. (Array)
hpoly - Handle of the MPT3 plot for one of the polytopes
See also generateMonteCarloSims
Notes:
------
* Requires MPT3 to compute the convex hull
* Note that the initial state is NOT a part of the
concatenated_state_realization
============================================================================
This function is part of the Stochastic Reachability Toolbox.
License for the use of this function is given in
https://sreachtools.github.io/license/