matlab make.m,makemap.m · 丁益武/robotics-toolbox-matlab - Gitee.com

%MAKEMAP Make an occupancy map

%

% map = makemap(N) is an occupancy grid map (NxN) created by a simple

% interactive editor. The map is initially unoccupied and obstacles can

% be added using geometric primitives.

%

% map = makemap() as above but N=128.

%

% map = makemap(map0) as above but the map is initialized from the

% occupancy grid map0, allowing obstacles to be added.

%

% With focus in the displayed figure window the following commands can

% be entered:

% left button click and drag to create a rectangle

% p draw polygon

% c draw circle

% u undo last action

% e erase map

% q leave editing mode and return map

%

% See also DXForm, PRM, RRT.

% Copyright (C) 1993-2017, by Peter I. Corke

%

% This file is part of The Robotics Toolbox for MATLAB (RTB).

%

% RTB is free software: you can redistribute it and/or modify

% it under the terms of the GNU Lesser General Public License as published by

% the Free Software Foundation, either version 3 of the License, or

% (at your option) any later version.

%

% RTB is distributed in the hope that it will be useful,

% but WITHOUT ANY WARRANTY; without even the implied warranty of

% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

% GNU Lesser General Public License for more details.

%

% You should have received a copy of the GNU Leser General Public License

% along with RTB. If not, see .

%

% http://www.petercorke.com

function world = makemap(Nw)

if nargin < 1

Nw = 128;

end

if isscalar(Nw)

% initialize a new map

world = zeros(Nw, Nw);

else

% we were passed a map

world = Nw;

end

himg = imagesc(world);

set(gca, 'Ydir', 'normal');

grid on

binary_cmap = [1 1 1; 1 0 0];

colormap(binary_cmap);

caxis([0 1]);

figure(gcf)

set(gcf, 'Name', 'makemap');

fprintf('makemap:\n');

fprintf(' left button, click and drag to create a rectangle\n');

fprintf(' or type the following letters in the figure window:\n');

fprintf(' p - draw polygon\n');

fprintf(' c - draw circle\n');

fprintf(' e - erase map\n');

fprintf(' u - undo last action\n');

fprintf(' q - leave editing mode\n');

while 1

drawnow

k = waitforbuttonpress;

if k == 1

% key pressed

c = get(gcf, 'CurrentCharacter');

switch c

case 'p'

fprintf('click a sequence of points, when done')

title('click a sequence of points, when done')

xy = ginput;

fprintf('\r \r')

title('')

xy = round(xy);

world_prev = world;

[X,Y] = meshgrid(1:Nw, 1:Nw);

world = world + inpolygon(X, Y, xy(:,1), xy(:,2));

case 'c'

fprintf('click a centre point')

title('click a centre point')

waitforbuttonpress;

point1 = get(gca,'CurrentPoint'); % button down detected

point1 = round(point1(1,1:2)); % extract x and y

hold on

h = plot(point1(1), point1(2), '+');

drawnow

fprintf('\rclick a circumference point')

title('click a circumference point')

waitforbuttonpress;

point2 = get(gca,'CurrentPoint'); % button up detected

point2 = round(point2(1,1:2));

fprintf('\r \r')

title('')

delete(h);

drawnow

hold off

r = round(colnorm(point1-point2));

c = kcircle(r);

world_prev = world;

% add the circle to the world

world(point1(2)-r:point1(2)+r,point1(1)-r:point1(1)+r) = ...

world(point1(2)-r:point1(2)+r,point1(1)-r:point1(1)+r) + c;

% ensure maximum value of occ.grid is 1

world = min(world, 1);

case 'e'

world_prev = world;

world = zeros(Nw, Nw);

case 'u'

if ~isempty(world_prev)

world = world_prev;

end

otherwise

break; % key pressed

end

else

% button pressed

[point1, point2] = pickregion('pressed')

point1 = round(point1); % extract x and y

point2 = round(point2);

x1 = max(1, point1(1));

x2 = min(Nw, point2(1));

y1 = max(1, point1(2));

y2 = min(Nw, point2(2));

if x1 > x2

t = x1; x1 = x2; x2 = t;

end

if y1 > y2

t = y1; y1 = y2; y2 = t;

end

world_prev = world;

world(y1:y2, x1:x2) = 1;

end

% ensure maximum value of occ.grid is 1

world = min(world, 1);

% update the world display

set(himg, 'CData', world);

end

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