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NARVAL >> NL_V: Vision > NL_V_PotentialRectangles

NL_V_PotentialRectangles

Perform the potential matrix of obstacles defined by rectangles.

Calling Sequence

[P] = NL_V_PotentialRectangles(X,Y,H,W,A,L)

Arguments

X :

X-coordinate of the main corner of each obstacle.

Y :

Y-coordinate of the main corner of each obstacle.

H :

Height of each obstacle.

W :

Width of each obstacle.

A :

Angle of each obstacle.

L :

Square area side.

P :

Obstacle matrix.

Description

NL_IP_PotentialRectangles performs the potential matrix P of obstacles (rectangles) defined by their heigh H, their width W and their angle A. Obstacles are placed inside a square area of side L. P(i,j) rates 0 if an obstacle is found in (i,j), else it rates 0.

Examples

no=4;//quantity of obstacles (rectangle)
L=1000;//squared area side
hm=100;//minimal height
hM=250;//maximal height
wm=100;//minimal width
wM=250;//maximal width
Al=[0 %pi/2 %pi -%pi/2];//available angles for obstacles
[Xs,Ys,X,Y,H,W,A]=NL_V_RectanglesCornersA(no,L,hm,hM,wm,wM,Al);//generation of obstacles
[P]=NL_V_PotentialRectangles(X,Y,H,W,A,L);//application of NL_V_PotentialRectangles

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