# isInsideSubmap

Check if query position is inside selected submap

Since R2021a

## Syntax

``isInside = isInsideSubmap(sMap,pos)``
``[isInside,distToEdge] = isInsideSubmap(sMap,pos)``

## Description

example

````isInside = isInsideSubmap(sMap,pos)` check if the query position `pos`, is inside the selected submap of the map `sMap`.```
````[isInside,distToEdge] = isInsideSubmap(sMap,pos)` also returns the distance from the query position to the closest edge of the submap along the X-,Y-, and Z-axes respectively.```

## Examples

collapse all

Load a map of segments and features from a MAT file.

```data = load('segmatchMapFullParkingLot.mat'); sMap = data.segmatchMapFullParkingLot;```

Select a submap within the map.

```center = [0 30 0]; sz = [40 24 10]; sMap = selectSubmap(sMap,center,sz);```

Check three positions to see if they are inside the submap.

```pos1 = [0 30 0]; % center [isInside1,distToEdge1] = isInsideSubmap(sMap,pos1)```
```isInside1 = logical 1 ```
```distToEdge1 = 1x3 single row vector 20.0000 12.0000 0.0649 ```
```pos2 = [60 0 0]; % completely outside [isInside2,distToEdge2] = isInsideSubmap(sMap,pos2)```
```isInside2 = logical 0 ```
```distToEdge2 = 1x3 single row vector 40.0000 18.0000 0.0649 ```
```pos3 = [15 30 0]; % inside, 5 meters from edge in x direction [isInside3,distToEdge3] = isInsideSubmap(sMap,pos3)```
```isInside3 = logical 1 ```
```distToEdge3 = 1x3 single row vector 5.0000 12.0000 0.0649 ```

## Input Arguments

collapse all

Map of segments and features, specified as a `pcmapsegmatch` object.

Query position, specified as a 3-element vector of the form [x y z].

## Output Arguments

collapse all

Indication of position inside submap, returned as a logical `true` or `false`.

Distance from the query position to the closest edge of the submap in the X-, Y-, and Z-axes respectively, returned as a 3-element vector.

## Version History

Introduced in R2021a