qGraph function added for C-space

buildPRM.m

@@ -43,7 +43,7 @@ function buildPRM (rangeQ1Q2, nbPoints, L1, L2, MapFilename)
   drawLine(top_line);
   hold on;
   drawLine(bottom_line);
-  center_box=[L2 L2; -L2 L2; -L2 -L2; L2 -L2]
+  center_box=[L2 L2; -L2 L2; -L2 -L2; L2 -L2];
   drawPolygon(center_box);
   hold on;
 
@@ -72,7 +72,7 @@ function buildPRM (rangeQ1Q2, nbPoints, L1, L2, MapFilename)
     endif
 
     if (OutOfRange==0)
-      
+      Q_storage(1:2, i)=Q;
       Points(1:2, i)=jTee; %assign the current random point to the Points matrix
       MatrixOfLinks(i, i)=1; %it doesnt intersect with the obstacles when compared to itself
 
@@ -111,6 +111,7 @@ function buildPRM (rangeQ1Q2, nbPoints, L1, L2, MapFilename)
 
   MatrixOfLinks
   Points %display the points vector to check on the graph
+  qGraph (Q_storage, nbPoints, MatrixOfLinks)
 
   %saves the results into a .mat file
   save(strcat(MapFilename,'.mat'), 'Points', 'MatrixOfLinks')

mapTest.mat

@@ -0,0 +1,25 @@
+# Created by Octave 7.3.0, Tue Jan 10 14:36:10 2023 GMT <unknown@LAPTOP-EJ1AIJHT>
+# name: Points
+# type: matrix
+# rows: 2
+# columns: 10
+ -2.9722694997088999 2.2027074585576791 -2.4163314018998832 -1.563641777935366 1.8247189104154553 -0.17308723248350155 0.24577290552178044 -0.80469834936605633 2.0135592026997866 -0.36560396489119051
+ 0.047890118375208762 -0.42713698315704518 -0.30925089631194735 -1.216804326954257 1.3865824550438368 1.3067789455813377 -1.2708472666201218 1.1717992231942889 -0.02269206049426975 1.84133215165838
+
+
+# name: MatrixOfLinks
+# type: matrix
+# rows: 10
+# columns: 10
+ 1 0 1 1 0 0 0 1 0 1
+ 0 1 0 0 1 0 0 0 1 0
+ 1 0 1 1 0 0 0 0 0 1
+ 1 0 1 1 0 0 1 0 0 0
+ 0 1 0 0 1 1 0 1 1 1
+ 0 0 0 0 1 1 0 1 0 1
+ 0 0 0 1 0 0 1 0 0 0
+ 1 0 0 0 1 1 0 1 0 1
+ 0 1 0 0 1 0 0 0 1 0
+ 1 0 1 0 1 1 0 1 0 1
+
+

qGraph.m

@@ -0,0 +1,36 @@
+## Author: adril <adril@LAPTOP-EJ1AIJHT>
+## Created: 2023-01-10
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+%function buildPRM (rangeQ1Q2, nbPoints, L1, L2, MapFilename)
+%
+% Task:
+%
+% Inputs:
+%	-
+%
+% Outputs:
+%	- None
+%
+% Adrien Lasserre (adrien.lasserre@ecam.fr) & Gwenn Durpoix-Espinasson (g.durpoix-espinasson@ecam.fr)
+% 10/01/2023
+%
+% Check library matgeom: https://octave.sourceforge.io/matgeom/overview.html
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+function qGraph (Q, nbPoints, mat)
+  hold off;
+  figure 2
+  for i=1:nbPoints
+    for j=1:nbPoints
+      drawPoint(Q(1,i), Q(2,i));
+      current_point=[Q(1, i), Q(2, i)];
+      previous_point=[Q(1, j), Q(2, j)];
+      if mat(i, j)==1 & mat(j, i)==1
+        L = createEdge(current_point, previous_point);
+        hold on;
+        drawEdge(L);
+      endif
+    endfor
+  endfor
+endfunction

simpleGraph.txt

@@ -0,0 +1,16 @@
+# graph
+# nodes
+5 2
+10 10
+20 10
+10 20
+20 20
+27 15
+# edges
+6
+1 2
+1 3
+2 4
+2 5
+3 4
+4 5

test_file.m

@@ -52,7 +52,6 @@ intersectLinePolygon(L, poly_a)
 isempty(intersectLinePolygon(L, poly_a))!=1
 
 
-
 ## This should be how we apply the function:
 ####rangeQ1Q2=[-5, -5; 5, 5];
 ####nbPoints=10;