safe_subpath

safemdp.safe_subpath(path, altitudes, h)

Computes the maximum subpath of path along which the safety constraint is not violated Parameters ———- path: np.array

Contains the nodes that are visited along the path

altitudes: np.array

1-d vector with altitudes for each node

h: float

Safety threshold

Returns:

subpath: np.array

Maximum subpath of path that fulfills the safety constraint