Contents

Function obstacles_array

Description: This either loads the use_objects_txt which is a setup as multiple sets of 4 3D point which define a planar obstacle. Or we use the default walls where nwalls decides how many walls there are to be

function obs=obstacles_array(use_objects_txt,nwalls,lim)

% Obstacles                     => Define a obstacles using four points [x(1:4,:) y(1:4,:) z(1:4,:)]
if use_objects_txt
    try obs_temp=load('obstacles.txt');
    catch
        error('Cant load obstacles.txt');
    end
    num_obs=size(obs_temp,1)/4;
    for i=1:num_obs
        obs(:,:,i)=obs_temp(i*4-3:i*4,:);
    end

else %use default obstacle walls
    if nwalls==1
        y=0;
        obs(:,:,1:4)=wall_1(y);
    elseif nwalls>1
        for i=1:nwalls
            y=lim(2,1)+0.2+(i-1)*(lim(2,2)-lim(2,1)-0.4)/(nwalls-1);
            if mod(i,2)==1
                obs(:,:,i*4-3:i*4)=wall_1(y);
            else
                obs(:,:,i*4-3:i*4)=wall_2(y);
            end
        end
    end
end

First example wall obstacle with hole

function wall1=wall_1(y)
wall1(:,:,1)=[-0.50 y +0.50;
              +0.15 y +0.50;
              +0.15 y -0.50;
              -0.50 y -0.50];

wall1(:,:,2)=[+0.35 y +0.50;
              +0.50 y +0.50;
              +0.50 y -0.50;
              +0.35 y -0.50];

wall1(:,:,3)=[+0.15 y +0.50;
              +0.35 y +0.50;
              +0.35 y +0.35;
              +0.15 y +0.35];

wall1(:,:,4)=[+0.15 y +0.15;
              +0.35 y +0.15;
              +0.35 y -0.50;
              +0.15 y -0.50];

Second wall obstacle with hole in different spot

function wall2=wall_2(y)
wall2(:,:,1)=[-0.50 y +0.50;
              -0.35 y +0.50;
              -0.35 y -0.50;
              -0.50 y -0.50];

wall2(:,:,2)=[-0.15 y +0.50;
              +0.50 y +0.50;
              +0.50 y -0.50;
              -0.15 y -0.50];

wall2(:,:,3)=[-0.35 y +0.50;
              -0.15 y +0.50;
              -0.15 y -0.15;
              -0.35 y -0.15];

wall2(:,:,4)=[-0.35 y -0.35;
              -0.15 y -0.35;
              -0.15 y -0.50;
              -0.35 y -0.50];

Published with MATLAB® 7.4