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getPathAndEnergy.m
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getPathAndEnergy.m
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% BUG que pasa si hay mas de una intersección con la linea vertical
%Returns a path for a given polygon
% Dist = [lb lf ll lr];
function [Path, Dist, Energy] = getPathAndEnergy(M, dx, curve_radius)
%% Generate lines
gap_y = 1;
% polygon limits
l_limit = min(M(:,1));
r_limit = max(M(:,1));
down_limit = min(M(:,2));
up_limit = max(M(:,2));
%extend the lines beyond the polygon
y1 = down_limit - gap_y;
y2 = up_limit + gap_y;
x1 = l_limit;
x2 = x1;
df = 0;
db = 0;
dr = 0;
dl = 0;
dir = 1;% forth abajo arriba, -back
%% Show the intersection points.
% figure('Position',[10 100 500 500],'Renderer','zbuffer');
% axes_properties.box = 'on';
% axes_properties.XLim = [-2 2];
% axes_properties.YLim = [-2 2];
% axes_properties.DataAspectRatio = [1 1 1];
% axes_properties.NextPlot = 'add';
% axes(axes_properties,'parent',gcf);
% hold on
%%
i = 1; %numero de waypoints agregados
lines = 0;
nLinesF = 0;
nLinesB = 0;
enterWP = [0 0];
exitWP = [0 0];
lastWP = [0 0];
while(x1 <= r_limit)
% linea de intersección
LineXY = [x1 y1 x2 y2];
x1 = x1 + dx;
x2 = x1;
lines = lines +1;
%intersecciones
out = lineSegmentIntersect(M,LineXY);
intersections = [out.intMatrixX(:) out.intMatrixY(:)];
intersections( ~any(intersections,2), : ) = [];
n = size(intersections,1);
if (n == 1)
p1 = intersections(1,:);
Path(i,:) = p1;
enterWP = p1;
i = i+1;
end
% si hay dos intersecciones entonces tomamos las intersecciones como wp
if (n == 2)
p1 = intersections(1,:);
p2 = intersections(2,:);
% las ordenamos de acuerdo a la dirección
if (dir == 1) % direcciń hacia arriba
% ordenar los puntos para que corresponda con la dirección
% hacia arriba
if (p2(1,2)<p1(1,2))
enterWP = p2; % punto de entrada a la linea
exitWP = p1; % punto de salida de la linea
else
enterWP = p1;
exitWP = p2;
end
% si hay lineas previas entonces conectamos la linea previa con
% la nueva a través de curvas de dubins
if(lines > 1)
% agregar un punto para compensar
dif = enterWP(1,2) - lastWP(1,2);
if(dif < 0) % agregar un punto a la izquierda
intermediateWP = [lastWP(1,1) enterWP(1,2)];
Path(i,:) = intermediateWP;
i = i+1;
[dubinsWP, dist] = getDubinsWaypoints(intermediateWP, enterWP, curve_radius, dx, -1);
Path = [Path ;dubinsWP];
i = i + size(dubinsWP,1);
dl = dl + dist;
else % agregar un punto a la derecha
intermediateWP = [enterWP(1,1) lastWP(1,2)];
[dubinsWP, dist] = getDubinsWaypoints(lastWP, intermediateWP, curve_radius, dx, -1);
Path = [Path ;dubinsWP];
i = i + size(dubinsWP,1);
Path(i,:) = intermediateWP;
i = i+1;
dl = dl + dist;
end
end
Path(i,:) = enterWP;
i = i+1;
Path(i,:) = exitWP;
i = i+1;
dist = norm(exitWP-enterWP);
df = df + dist;
nLinesF = nLinesF +1;
else % dirección hacia abajo
%ordenar los waypoints
if (p2(1,2)<p1(1,2))
enterWP = p1;
exitWP = p2;
else
enterWP = p2;
exitWP = p1;
end
if(lines > 1)
% agregar un punto para compensar
dif = enterWP(1,2) - lastWP(1,2);
if(dif > 0) % agregar un punto a la izquierda
intermediateWP = [lastWP(1,1) enterWP(1,2)];
Path(i,:) = intermediateWP;
i = i+1;
[dubinsWP, dist] = getDubinsWaypoints(intermediateWP, enterWP, curve_radius, dx, 1);
Path = [Path ;dubinsWP];
i = i + size(dubinsWP,1);
dr = dr + dist;
else % agregar un punto a la derecha
intermediateWP = [enterWP(1,1) lastWP(1,2)];
[dubinsWP, dist] = getDubinsWaypoints(lastWP, intermediateWP, curve_radius, dx, 1);
Path = [Path ;dubinsWP];
i = i + size(dubinsWP,1);
Path(i,:) = intermediateWP;
i = i+1;
dr = dr + dist;
end
end
Path(i,:) = enterWP;
i = i+1;
Path(i,:) = exitWP;
i = i+1;
dist = norm(exitWP-enterWP);
db = db + dist;
nLinesB = nLinesB +1 ;
end
dir = dir * -1;
lastWP = exitWP;
end
nLines = [nLinesB nLinesF];
%pause
end
% title('Intersection Points');
% hold off;
Dist = [db df dl dr];
end