# stateSpaceSE2

SE(2) state space

## Description

The `stateSpaceSE2`

object stores parameters and states in the SE(2)
state space, which is composed of state vectors represented by [*x*,
*y*, *θ*]. *x* and *y*
are Cartesian coordinates, and *θ* is the orientation angle. The object uses
Euclidean distance to calculate distance and uses linear interpolation to calculate
translation and rotation of the state.

## Creation

### Description

creates an SE(2) state
space object with default state bounds for `space`

= stateSpaceSE2*x*, *y*, and
*θ*.

specifies the `space`

= stateSpaceSE2(`bounds`

)`bounds`

for *x*, *y*,
and *θ*. The state values beyond the bounds are truncated to the bounds.
The input, `bounds`

, allows you to set the value of the StateBounds
property.

## Properties

## Object Functions

`copy` | Create deep copy of state space object |

`distance` | Distance between two states |

`enforceStateBounds` | Reduce state to state bounds |

`interpolate` | Interpolate between states |

`sampleGaussian` | Sample state using Gaussian distribution |

`sampleUniform` | Sample state using uniform distribution |

## Examples

## Extended Capabilities

## Version History

**Introduced in R2019b**