# isInsideSubmap

Check if query position is inside selected submap

Since R2021a

## Syntax

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

## Description

example

````isInside = isInsideSubmap(ndtMap pos)` check if the query position `pos`, is inside the selected submap of the NDT map `ndtMap`.```
````[isInside,distToEdge] = isInsideSubmap(ndtMap,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

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Load an NDT map from a MAT file.

```data = load('ndtMapParkingLot.mat'); ndtMap = data.ndtMapParkingLot;```

Select a submap with a specified center and set size.

```center = [40 0 0]; sz = [50 50 20]; ndtMap = selectSubmap(ndtMap,center,sz); ```

Display the extent of the submap.

`disp(ndtMap.SelectedSubmap)`
``` 15.0000 65.0000 -25.0000 25.0000 -9.1840 5.4975 ```

Check if a query position is inside the submap.

```pos1 = [40 0 0]; % near center [isInside1,distToEdge1] = isInsideSubmap(ndtMap,pos1)```
```isInside1 = logical 1 ```
```distToEdge1 = 1×3 25.0000 25.0000 5.4975 ```
```pos2 = [66 0 0]; % completely outside [isInside2,distToEdge2] = isInsideSubmap(ndtMap,pos2)```
```isInside2 = logical 0 ```
```distToEdge2 = 1×3 1.0000 25.0000 5.4975 ```
```pos3 = [60 0 0]; % inside, 5 meters from edge in x direction [isInside3,distToEdge3] = isInsideSubmap(ndtMap,pos3)```
```isInside3 = logical 1 ```
```distToEdge3 = 1×3 5.0000 25.0000 5.4975 ```

## Input Arguments

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NDT map, specified as a `pcmapndt` object.

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

## Output Arguments

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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