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A Abbadi — Thu, 01 Jan 2015 14:58:28 -0000

Vertical Cell Decomposition for 2d using matlab

% please note this version is incomplete, and has BUGS
%%%% for execution %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%- use this conmands
run_cd_planner

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
available functions

Load CSpace: Load Configuration space from file, test.obsmap an example.
Create 2d CS: for creating 2d workspace; this will open new editor for drawing obstacles, you need to save to file, and reload the file to main window
for creating polygons click on left to choose vertices , click right or enter to finish.
S: set start position.
G: set Gola position.
CD planner: generate a path from S to G based on the graph of adjacency. The graph is created using vertical Cell Decomposition algorithm.
Cell Deco. : To generate a graph of adjacency based on vertical Cell Decomposition.
EdgeGraph: this incomplete function (for optimizing path length); in graph of adjacency the nodes represent cells(polygons) and edges represent adjacent cells,
This function change nodes to represent cells borders(not the polygon itself but the polygon edges) and edges to represent possible connection between cell's borders.
DrawGr. : to draw the generated graph, it depend on bioinformatics toolbox functions.
Save F: to export current workspace to matlab figure.

Home modified by A Abbadi

A Abbadi — Wed, 27 Aug 2014 11:56:24 -0000

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