https://jp.mathworks.com/help/driving/ref/driving.costmap.inflationcollisionchecker.html
InflationCollisionChecker - Collision-checking configuration for costmap based on inflation - MATLAB
The inflationCollisionChecker function creates an InflationCollisionChecker object, which holds the collision-checking configuration of a vehicle costmap.
based oncollisioncheckingconfigurationinflation