function [prevPath,kPP,xPP,yPP]=checkFeas(xPP,yPP,Obst,dPerc)
%init
kPP=2;
for i1=1:length(xPP)-1,
    %check for obstacle boundary crossings
    obstID=checkEdge(xPP(i1:i1+1),yPP(i1:i1+1),Obst);
    
    if obstID,
        perc=dPerc;
        while perc<=1,
            %clip edge to obstacle boundary (very coarse)
            xPP(i1+1)=xPP(i1+1)-(xPP(i1+1)-xPP(i1))*perc;
            yPP(i1+1)=yPP(i1+1)-(yPP(i1+1)-yPP(i1))*perc;
            
            %recheck for obstacle boundary crossings
            obstID=checkEdge(xPP(i1:i1+1),yPP(i1:i1+1),Obst);
            if obstID,
                perc=min(1,perc+dPerc);
            else
                break;
            end
        end
    else
        kPP=kPP+1;
    end
    
    %break if clipping was necessary
    if kPP~=i1+2,
        break;
    end
end
prevPath=0;
if kPP>length(xPP),     %previous path is still feasible
    prevPath=1;
end