115 lines
3.4 KiB
Mathematica
115 lines
3.4 KiB
Mathematica
## Copyright (C) 2023 borie
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##
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## This program is free software: you can redistribute it and/or modify it
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## under the terms of the GNU General Public License as published by
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## the Free Software Foundation, either version 3 of the License, or
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## (at your option) any later version.
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##
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## This program is distributed in the hope that it will be useful, but
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## WITHOUT ANY WARRANTY; without even the implied warranty of
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## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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## GNU General Public License for more details.
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##
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## You should have received a copy of the GNU General Public License
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## along with this program. If not, see
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## <https://www.gnu.org/licenses/>.
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## -*- texinfo -*-
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## @deftypefn {} {@var{retval} =} interCartesian (@var{input1}, @var{input2})
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##
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## @seealso{}
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## @end deftypefn
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## Author: borie <borie@LAPTOP-D62TNEVS>
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## Created: 2023-01-20
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##function [connectionMatrixC] = interCartesian (n, L2, gap, points, x, y)
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##
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## Task: Implement a code that check intersections with obstacle using the original position of
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## the end effector in the C-space
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##
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## Inputs: n
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## L2, joint value
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## gap, interval of sampling
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## points, matrix containing joint and cartesian values
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## x position of end effector in x-axis
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## y position of end effector in y-axis
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##
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## Outputs: connectionMatrixC
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##
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##
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function [connectionMatrixC] = interCartesian (n, L2, gap, points, x, y)
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hold on
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connectionMatrixS = zeros(11,1);
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xplot_S = [];
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yplot_S = [];
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gap = 0.0001;
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for j = index1
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x_stored = points(3,j)
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y_stored = points(4,j)
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## texte = int2str(columns(points)); #Transform integer to string
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## text(x, y, texte, 'FontSize', 23); #Display the points by apperance
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if (x_stored != S(1,1))
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A = (y_stored - S(2,1))/(x_stored - S(1,1));
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B = S(2,1) - A *S(1,1);
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Y = @(X) A*X+B;
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if( abs(x_stored-S(1,1))<gap && x_stored>-L2 && x_stored<L2)
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bool = 1;
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connectionMatrixS (j,n) = 1;
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connectionMatrixS (n,j) = 1;
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break;
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elseif (x_stored > S(1,1))
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for(g = S(1,1):gap:x_stored)
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if(-L2<g && g< L2 && -L2<Y(g) && Y(g)<L2)
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bool = 1;
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connectionMatrixS (j,n) = 1;
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connectionMatrixS (n,j) = 1;
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break;
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else
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bool = 0;
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connectionMatrixS (j,n) = 0;
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connectionMatrixS (n,j) = 0;
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endif
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endfor
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elseif (x_stored < S(1,1))
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for (g = x_stored:gap:x)
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if (-L2<g && g< L2 && -L2<Y(g) && Y(g)<L2)
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bool = 1;
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connectionMatrixS (j,n) = 1;
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connectionMatrixS (n,j) = 1;
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break;
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else
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bool = 0;
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connectionMatrixS (j,n) = 0;
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connectionMatrixS (n,j) = 0;
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endif
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endfor
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endif
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if bool == 0 && connectionMatrixC(j, n) == 0 && n!=j
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xplot = [x, x_stored];
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yplot = [y, y_stored];
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xyplot = [xplot; yplot];
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plot(xplot, yplot, 'o-r', 'Color', 'b');
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drawnow
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endif
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endif
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endfor
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endfunction
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