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motion_planning_td5
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Adrien LASSERRE 2023-01-19 17:31:32 +01:00
parent ef81f8fc4e
commit 4fbbce9ed2
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planPathPRM.m
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@ -11,6 +11,8 @@
% - mapFilePath : the path to get the .mat file % - mapFilePath : the path to get the .mat file
% - startPoint : our starting point for the path planning % - startPoint : our starting point for the path planning
% - endPoint : our final goal % - endPoint : our final goal
% - L1: link1 size (m)
% - L2: link2 size (m)
% %
% Outputs: % Outputs:
% - None % - None
@ -51,6 +53,8 @@ function planPathPRM (mapFilePath, startPoint, endPoint, L1, L2)
[distanceToNode, parentOfNode, nodeTrajectory] = dijkstra(numberOfNodes,visibilityGraph); %and finally use the dijkstra algorithm for path planning [distanceToNode, parentOfNode, nodeTrajectory] = dijkstra(numberOfNodes,visibilityGraph); %and finally use the dijkstra algorithm for path planning
## drawing the path
figure 3; hold on; figure 3; hold on;
b=drawCircle(0, 0, L1+L2); %teacher's functions for drawing circles b=drawCircle(0, 0, L1+L2); %teacher's functions for drawing circles
hold on; hold on;