Check vehicle costmap for occupied poses or points

The `checkOccupied`

function checks whether vehicle poses or
points are occupied by obstacles on the vehicle costmap. Path planning algorithms use
`checkOccupied`

to check whether candidate vehicle poses along a
path are navigable.

To simplify the collision check for a vehicle pose, `vehicleCostmap`

inflates obstacles according to the vehicle's `InflationRadius`

, as specified by the
`CollisionChecker`

property of the costmap. The collision checker
calculates the inflation radius by enclosing the vehicle in a set of overlapping circles
of radius *R*, where the centers of these circles lie along the
longitudinal axis of the vehicle. The inflation radius is the minimum
*R* needed to fully enclose the vehicle in these circles. A vehicle
pose is collision-free when none of the centers of these circles lie on an inflated grid
cell. For more details, see the algorithm on
the `vehicleCostmap`

reference page.

checks whether the vehicle poses are occupied.`occ`

= checkOccupied(`costmap`

,`vehiclePoses`

)