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| posControlShapes(shape)
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function BW = posControlShapes(shape)
% contains arrangements of binary images used by PosControl_universal
% program for position control to an arbitrary shape using 1 obstacle.
% returns a binary image
BW = 0;
switch shape
case 'I'
BW =([ 1 1 1;0 1 0;0 1 0;0 1 0; 1 1 1]);
case 'A'
BW =([ 0 1 0;1 0 1; 1 1 1; 1 0 1]);
case 'simpleSmile'
BW = flipud([1 0 0 0 1;
0 0 0 0 0;
0 0 0 0 0;
0 0 1 0 0;
0 0 0 0 0;
1 0 0 0 1;
0 1 1 1 0]);
case 'Smile'
BW = ([0 0 0 0 1 0 1 0 1 0 0 0 0;
0 0 0 0 1 0 1 0 1 0 0 0 0;
0 0 0 0 1 0 1 0 1 0 0 0 0;
0 0 0 1 0 0 0 0 0 1 0 0 0;
0 0 1 0 0 0 0 0 0 0 1 0 0;
0 1 0 0 1 0 0 0 1 0 0 1 0;
1 0 0 0 0 0 0 0 0 0 0 0 1;
1 0 0 0 0 0 1 0 0 0 0 0 1;
1 0 1 0 0 0 0 0 0 0 1 0 1;
1 0 0 1 0 0 0 0 0 1 0 0 1;
0 1 0 0 1 0 0 0 1 0 0 1 0;
0 0 1 0 0 1 1 1 0 0 1 0 0;
0 0 0 1 0 0 0 0 0 1 0 0 0;
0 0 0 0 1 1 1 1 1 0 0 0 0;]);
case 'MRSL'
BW = [1 1 0 0 0 0 0 1 1 0 1 0 0 0 1 1 0 1 1 1 1 1 0 1 1 1 1 1;
1 1 0 0 0 0 0 1 1 0 1 0 0 0 1 1 0 1 1 1 1 1 0 1 1 1 1 1;
1 1 0 0 1 0 0 1 1 0 1 1 1 1 1 0 0 0 0 0 1 1 0 1 1 0 0 0;
1 1 0 1 1 1 0 1 1 0 1 1 1 1 1 0 0 1 1 1 1 1 0 1 1 0 0 0;
1 1 1 1 0 1 1 1 1 0 1 0 0 0 1 1 0 1 1 0 0 0 0 1 1 0 0 0;
1 1 1 0 0 0 1 1 1 0 1 1 1 1 1 1 0 1 1 1 1 1 0 1 1 0 0 0;
1 1 1 0 0 0 1 1 1 0 1 1 1 1 1 1 0 1 1 1 1 1 0 1 1 0 0 0];
BW = flipud(BW);
case 'MonaLisa10'
[BW ,~] = BinaryImage('monalisa10.png', 0); %5 , 9
BW = not(BW);
case 'MonaLisa3'
[BW ,~] = BinaryImage('MonaLisa3.png', 0); %5 , 9
BW = not(BW);
case 'MonaLisaBig'
[BW ,~] = BinaryImage('MonaLisaBW.png', 0); %5 , 9
BW = not(BW);
end
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