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cleaned up obstacle generation

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This commit is contained in:
Kevin D
2025-11-16 10:21:58 -08:00
parent c3a840bae2
commit 24b0411af0
6 changed files with 51 additions and 78 deletions
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36
geometries/@rectangularPrism/initializeRandom.m
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@@ -1,17 +1,43 @@
function [obj] = initializeRandom(obj, minDimension, tag, label)
function [obj] = initializeRandom(obj, tag, label, minDimension, maxDimension, domain)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
minDimension (1, 1) double = 10;
tag (1, 1) REGION_TYPE = REGION_TYPE.INVALID;
label (1, 1) string = "";
minDimension (1, 1) double = 10;
maxDimension (1, 1) double= 20;
domain (1, 1) {mustBeGeometry} = rectangularPrism;
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
end
% Produce random bounds
L = ceil(minDimension + rand * minDimension);
bounds = [zeros(1, 3); L * ones(1, 3)];
% Produce random bounds based on region type
if tag == REGION_TYPE.DOMAIN
% Domain
L = ceil(minDimension + rand * (maxDimension - minDimension));
bounds = [zeros(1, 3); L * ones(1, 3)];
else
% Obstacle
% Produce a corners that are contained in the domain
ii = 0;
candidateMaxCorner = domain.maxCorner + ones(1, 3);
candidateMinCorner = domain.minCorner - ones(1, 3);
% Continue until the domain contains the obstacle without crowding the objective
while ~domain.contains(candidateMaxCorner) || all(domain.objective.groundPos + domain.objective.protectedRange >= candidateMinCorner(1:2), 2) && all(domain.objective.groundPos - domain.objective.protectedRange <= candidateMaxCorner(1:2), 2)
if ii == 0 || ii > 10
candidateMinCorner = domain.random();
candidateMinCorner(3) = 0; % bind to floor
ii = 1;
end
candidateMaxCorner = candidateMinCorner + minDimension + rand(1, 3) * (maxDimension - minDimension);
ii = ii + 1;
end
bounds = [candidateMinCorner; candidateMaxCorner;];
end
% Regular initialization
obj = obj.initialize(bounds, tag, label);

2
geometries/@rectangularPrism/rectangularPrism.m
View File

@@ -28,7 +28,7 @@ classdef rectangularPrism
methods (Access = public)
[obj ] = initialize(obj, bounds, tag, label, objectiveFunction, discretizationStep);
[obj ] = initializeRandom(obj, tag, label);
[obj ] = initializeRandom(obj, tag, label, minDimension, maxDimension, domain);
[r ] = random(obj);
[c ] = contains(obj, pos);
[d ] = distance(obj, pos);