documenting

buildPRM.m

@@ -1,10 +1,16 @@
 ## Author: adril <adril@LAPTOP-EJ1AIJHT>
 ## Created: 2022-12-06
+## For more info:
+## Check library matgeom: https://octave.sourceforge.io/matgeom/overview.html
 
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 %function buildPRM (rangeQ1Q2, nbPoints, L1, L2, MapFilename)
 %
 % Task:
+%The goal of this function is to use the Probabilistic RoadMaps procedure,
+%to build a map of both the Cartesian space and the C-space representations,
+%with the number of points chosen by the user to establish the different
+%options for the path to follow, to get to a specific goal (cartesian point)
 %
 % Inputs:
 %	- rangeQ1Q2 : range of values (in degrees) acceptable for joints Q1 and Q2
@@ -13,19 +19,18 @@
 % - MapFilename : the name of the file to be saved for the map
 %
 % Outputs:
-%	- None
+%	- .mat file in the workspace
 %
 % Adrien Lasserre (adrien.lasserre@ecam.fr) & Gwenn Durpoix-Espinasson (g.durpoix-espinasson@ecam.fr)
 % 06/12/2022
 %
-% Check library matgeom: https://octave.sourceforge.io/matgeom/overview.html
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 function buildPRM (rangeQ1Q2, nbPoints, L1, L2, MapFilename)
 
   hold off;
-  i = 1;
+  i = 1; %initialize
-  Points=zeros(2, nbPoints);
+  Points=zeros(2, nbPoints); %matrix of 2xnbPoints
   MatrixOfLinks=zeros(nbPoints, nbPoints);
   alpha=[0;0];
   d=[0;0];
@@ -34,6 +39,7 @@ function buildPRM (rangeQ1Q2, nbPoints, L1, L2, MapFilename)
 
   figure 1; hold on;
   b=drawCircle(0, 0, L1+L2); %teacher's functions for drawing circles
+  ## used for drawing the robot definition
   hold on;
   c=drawCircle(0, 0, L2-L1);
   hold on;
@@ -43,11 +49,11 @@ function buildPRM (rangeQ1Q2, nbPoints, L1, L2, MapFilename)
   drawLine(top_line);
   hold on;
   drawLine(bottom_line);
+  %creates the central box that's prohibited
   center_box=[L2 L2; -L2 L2; -L2 -L2; L2 -L2];
   drawPolygon(center_box);
   hold on;
 
-
   poly_a=circleToPolygon([0 0 L2-L1], 32);%create a polygon for matgeom with the circle info (smaller one)
   poly_b=circleToPolygon([0 0 L1+L2], 32);%bigger one radius=3
 
@@ -109,7 +115,7 @@ function buildPRM (rangeQ1Q2, nbPoints, L1, L2, MapFilename)
     endif
   end
 
-  MatrixOfLinks
+  MatrixOfLinks;
   Points %display the points vector to check on the graph
   qGraph (Q_storage, nbPoints, MatrixOfLinks)
 

mapTest.mat

@@ -1,25 +1,25 @@
-# Created by Octave 6.2.0, Tue Jan 10 16:37:33 2023 CET <gwenn-durpoix@gwenns-macbook-air.home>
+# Created by Octave 7.3.0, Wed Jan 11 15:52:59 2023 GMT <unknown@LAPTOP-EJ1AIJHT>
 # name: Points
 # type: matrix
 # rows: 2
 # columns: 10
- -2.9278270545629583 -1.6390603492396598 0.54333480331087836 0.74523888813119699 1.0407433467701765 2.8666794638359794 -0.17021771427410731 1.6710330436515206 1.6120313889005971 -1.6706558687217048
+ 1.0102396615914184 0.52999250891267136 -1.4938105820093814 0.39973309803001944 1.6575303500294156 2.1811052817711225 2.3728058316176091 -1.7930511997776755 -1.1301884102529285 0.37332095642010499
- 0.6489436540224216 -0.27473874500310402 -1.1849051429926958 -1.8204567844796986 -0.75288499470420012 0.051534548934427216 1.0909084733393528 0.26900756558602867 0.60178471895213748 -0.57476808418975023
+ -0.38102794441973026 -1.4202013308006278 0.272919986694101 -1.7257148318842865 1.9757520956131371 0.5058894523007601 1.417055067995548 -1.7814659113455531 1.964795369645167 -1.5680163207760147
 
 
 # name: MatrixOfLinks
 # type: matrix
 # rows: 10
 # columns: 10
- 1 0 0 0 0 0 0 0 0 0
+ 1 0 0 0 1 1 1 0 0 0
- 0 1 0 0 0 0 0 0 0 1
+ 0 1 0 1 0 0 0 1 0 1
- 0 0 1 1 0 0 0 0 0 0
+ 0 0 1 0 0 0 0 1 1 0
- 0 0 1 1 0 1 0 1 1 0
+ 0 1 0 1 0 0 0 1 0 1
- 0 0 0 0 1 1 0 1 1 0
+ 1 0 0 0 1 1 1 0 1 0
- 0 0 0 1 1 1 0 1 1 0
+ 1 0 0 0 1 1 1 0 1 0
- 0 0 0 0 0 0 1 0 0 0
+ 1 0 0 0 1 1 1 0 1 0
- 0 0 0 1 1 1 0 1 1 0
+ 0 1 1 1 0 0 0 1 1 1
- 0 0 0 1 1 1 0 1 1 0
+ 0 0 1 0 1 1 1 1 1 0
- 0 1 0 0 0 0 0 0 0 1
+ 0 1 0 1 0 0 0 1 0 1
 
 

planPathPRM.m

@@ -2,17 +2,21 @@
 ## Created: 2023-01-08
 
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-%function planPathPRM()
+%function planPathPRM(mapFilePath, startPoint, endPoint)
 %
-% Task:
+% Task: Establish the path from the starting point to the goal, using the points defined with the PRM method
+%       and using the Dijkstra method.
 %
 % Inputs:
-%	-
+%	- mapFilePath : the path to get the .mat file
+% - startPoint : our starting point for the path planning
+% - endPoint : our final goal
 %
 % Outputs:
-%	-
+%	- None
 %
-% Adrien Lasserre (adrien.lasserre@ecam.fr) & Gwenn Durpoix-Espinasson (g.durpoix-espinasson@ecam.fr)
+% Adrien Lasserre (adrien.lasserre@ecam.fr) &
+% Gwenn Durpoix-Espinasson (g.durpoix-espinasson@ecam.fr)
 % 08/01/2023
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
@@ -20,31 +24,31 @@ function planPathPRM (mapFilePath, startPoint, endPoint)
 
   mapFile = load(mapFilePath);
 
-  S = startPoint;
+  S = startPoint; %define the start as S
-  G = endPoint;
+  G = endPoint;   %define the goal as G
 
-  n = columns(mapFile.MatrixOfLinks);
+  n = columns(mapFile.MatrixOfLinks); %get the size of the MatrixOfLinks
-  connectionMatrix = zeros(n+2,n+2);
+  connectionMatrix = zeros(n+2,n+2);  %initialize a new connection matrix, with size n+2 to enter the S and G
-  connectionMatrix(2:n+1,2:n+1) = mapFile.MatrixOfLinks;
+  connectionMatrix(2:n+1,2:n+1) = mapFile.MatrixOfLinks;%put the MatrixOfLinks inside
 
-  points2Dmap = mapFile.Points';
+  points2Dmap = mapFile.Points'; %get the Points, but transposed (to use the findClosestPoint function)
 
-  indexClosestPointS = findClosestPoint(S,points2Dmap) + 1
+  indexClosestPointS = findClosestPoint(S,points2Dmap) + 1  %+1 as in the first indexes of the connectionMatrix we put the S
-  indexClosestPointG = findClosestPoint(G,points2Dmap) + 1
+  indexClosestPointG = findClosestPoint(G,points2Dmap) + 1  %display those results
 
-  connectionMatrix(1, indexClosestPointS) = 1;
+  connectionMatrix(1, indexClosestPointS) = 1;              %use the previous results to update the connectionMatrix
   connectionMatrix(indexClosestPointS, 1) = 1;
   connectionMatrix(1, 1) = 1;
   connectionMatrix(n+2, indexClosestPointG) = 1;
   connectionMatrix(indexClosestPointG, n+2) = 1;
   connectionMatrix(n+2, n+2) = 1;
 
-  points2D = [S; points2Dmap; G]
+  points2D = [S; points2Dmap; G]                            %store the points (with S and G)
-  connectionMatrix
+  connectionMatrix                                          %debugging
 
-  [numberOfNodes, visibilityGraph] = createVisibilityGraph(connectionMatrix, points2D)
+  [numberOfNodes, visibilityGraph] = createVisibilityGraph(connectionMatrix, points2D) %create the visibilityGraph
 
 
-  dijkstra(numberOfNodes,visibilityGraph);
+  dijkstra(numberOfNodes,visibilityGraph); %and finally use the dijkstra algorithm for path planning
 
 endfunction

qGraph.m

@@ -4,10 +4,14 @@
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 %function buildPRM (rangeQ1Q2, nbPoints, L1, L2, MapFilename)
 %
-% Task:
+% Task: Create the C-Space graph for the PRM method, with the selected joint
+%       values, that weren't outside of bounds.
 %
 % Inputs:
-%	-
+%	- Q : matrix that stores the different joint values for each point.
+% - nbPoints : number of points required
+% - mat : the Matrix of links, that stores the information on which point is
+%         linked to which other one.
 %
 % Outputs:
 %	- None
@@ -20,16 +24,16 @@
 
 function qGraph (Q, nbPoints, mat)
   hold off;
-  figure 2
+  figure 2 %launch a new figure
-  for i=1:nbPoints
+  for i=1:nbPoints %double for loop to check every point for every link
     for j=1:nbPoints
-      drawPoint(Q(1,i), Q(2,i));
+      drawPoint(Q(1,i), Q(2,i)); %draw the point in C-space
-      current_point=[Q(1, i), Q(2, i)];
+      current_point=[Q(1, i), Q(2, i)]; %change the current point
-      previous_point=[Q(1, j), Q(2, j)];
+      previous_point=[Q(1, j), Q(2, j)]; %change the previous point
-      if mat(i, j)==1 & mat(j, i)==1
+      if mat(i, j)==1 & mat(j, i)==1 %if there is a link between the two
-        L = createEdge(current_point, previous_point);
+        L = createEdge(current_point, previous_point); %then create a line between both
         hold on;
-        drawEdge(L);
+        drawEdge(L); %and draw it on the figure.
       endif
     endfor
   endfor