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Correct obstacles variable references and improved visuals #79

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13 changes: 10 additions & 3 deletions matlab_simulation/02-examples_practice/gallerypfield/potentialField.m
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@
numObsts = length(obsts);

for i=1:numObsts
co=o{i};
co=obsts{i};
[co(:,1), co(:,2)] = poly2ccw(co(:,1), co(:,2)); % Convert to ccw poly
K = convhull(co(:,1), co(:,2)); % Take convex hull
co = co(K(1:end-1),:);
Expand Down Expand Up @@ -64,7 +64,7 @@

gVcur = Katt*(pos-endPos);
for m=1:numObsts
curobs = o{m};
curobs = obsts{m};
if (inpolygon(pos(1),pos(2),curobs(:,1),curobs(:,2)))
gVcur = [NaN NaN];
else
Expand All @@ -86,6 +86,9 @@
plot(x(1,1:t-1), x(2,1:t-1));
figure(4);
plot(x(:,1:t-1)');
title('Robot Position');
legend('X', 'Y', 'Location', 'South');
axis([0 t-1 0 N]);

% Grid up the space
dx = 0.4;
Expand All @@ -109,7 +112,7 @@

%Repulsive potentials
for m=1:numObsts
curobs = o{m};
curobs = obsts{m};
if (inpolygon(pos(1),pos(2),curobs(:,1),curobs(:,2)))
V(i,j) = Vmax;
gV(:,i,j) = [NaN NaN];
Expand Down Expand Up @@ -138,9 +141,13 @@

figure(2); clf; hold on;
surf(X,Y,V)
title('Potential Field Surface');
view(15, 80);
%axis([posMinBound(1) posMaxBound(1) posMinBound(2) posMaxBound(2) 0 Vmax])

figure(3); clf; hold on;
quiver(X,Y,squeeze(-gV(1,:,:)),squeeze(-gV(2,:,:)))
title('Potential Field');
axis([0 M 0 N]);
%plotEnvironment(obsPtsStore,posMinBound, posMaxBound, startPos, endPos);