Code covered by the BSD License

### Highlights from 2D random paths generator integrating leg's contraints

Be the first to rate this file! 9 Downloads (last 30 days) File Size: 59.1 KB File ID: #21084 Version: 1.2

# 2D random paths generator integrating leg's contraints

### Sebastien PARIS (view profile)

14 Aug 2008 (Updated )

Generates random 2D leg'paths from departure to arrival integrating leg's constraints

File Information
Description

Generates random 2D-paths between start and finish nodes according to densities distribution given by matrix C with leg's contrainsts defined by the adjacency matrix I.

P = path_generator(start , finish , I , [C] , [K] , [V] , [delta]);

Inputs
------

start Index of starting points (r x 1) where start(i) = 1,...,R, R = 8(Nx-2)(Ny-2) + 10((Nx-2)+(Ny-2)) + 12,
where Nx, Ny denote the number of nodes in x and y axis respectivly.
finish Index of arrival points (q x 1) where finish(i) = 1,...,R
I Index of neigbourds (D x R), where D = 8
C Probabilities matrix (D x R x L) such that sum(C,1) = 1 (default C is uniform pdf)
K Number of path's leg (at least the number of the shortest path, default K = 100)
V Number of path's to generate (default V = 1)
delta Transition legs'angles constraints matrix (D x D), i.e. delta(p_{k}|p_{k-1}) (default delta = ones(D,D));

Ouputs
------

P Path leg's indexes(K x L x V)

To Compile
----------

Run mexme_path_generator2 to complile mex files on you plateform

Run demo "test_path_generator2.m"

Ref : S. Paris, J-P Le Cadre, “Planification for Terrain-Aided Navigation”, in: IEEE FUSION 2002 Conference, Annapolis, USA, July 2002

Acknowledgements

Inpoly Mex File and Dijsktra Path Finder inspired this file.

Required Products Image Processing Toolbox
MATLAB release MATLAB 7.5 (R2007b)
Other requirements A C compiler.
16 Mar 2009 1.1