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NARVAL >> NARVAL > NARVAL_IP_PotentialPath

NARVAL_IP_PotentialPath

Perform the potential field of an obstacle.

Calling Sequence

[u] = NARVAL_IP_PotentialPath(o,mo)

Parameters

o :

obstacle matrix.

mo :

infinite potential value (origin).

u :

potential matrix.

Description

NARVAL_IP_PotentialPath performs the potential field u of the obstacle o. All pixels that belong to the obstacle have an infinite potential value mo.

Examples

dt=getdate();
seed=dt(10);
rand('seed',seed);//initialization of the random values generator
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]=NARVAL_IP_RectObstacles(no,L,hm,hM,wm,wM);//generation of obstacles
[P]=NARVAL_IP_PotentialRot(X,Y,H,W,A,L);//generation of obstacle matrix
z=10;//zoom factor
o=2;// 1=mean, 2=max, 3=min, 4=median
Pz=NARVAL_IP_MRA(P,z,o);//scale modification
[Pzx,Pzy]=size(Pz);//image size
w1=1;
scf(w1);
clf(w1);
grayplot(1:Pzx,1:Pzy,Pz);//graph visualization
xset("colormap",graycolormap(128));
mO=100000;//infinite value of obstacles
[U]=NARVAL_IP_PotentialPath(Pz,mO);//application of NARVAL_IP_PotentialPath
U

Dependency

NARVAL_IP_DilationW, NARVAL_F_RemovIndex

Authors

Foued Melakessou

Contact

Dr. Foued Melakessou

Research Associate

Interdisciplinary Centre for Security, Reliability and Trust

Room F106

University of Luxembourg

6, rue Coudenhove Kalergi

L-1359 Luxembourg-Kirchberg

E-mail: foued.melakessou@uni.lu

Tel: (+352) 46 66 44 5346

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