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added cone geometry, implemented fov visualization

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This commit is contained in:
Kevin D
2025-11-13 09:39:02 -08:00
parent 1592e3321e
commit 79783d754b
5 changed files with 102 additions and 14 deletions
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1
geometries/REGION_TYPE.m
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@@ -8,6 +8,7 @@ classdef REGION_TYPE
DOMAIN (1, [0, 0, 0]); % domain region
OBSTACLE (2, [255, 127, 127]); % obstacle region
COLLISION (3, [255, 255, 128]); % collision avoidance region
FOV (4, [255, 165, 0]); % field of view region
end
methods
function obj = REGION_TYPE(id, color)

86
geometries/cone.m
View File

@@ -1,22 +1,82 @@
classdef cone
%CONE Summary of this class goes here
% Detailed explanation goes here
% Conical geometry
properties (SetAccess = private, GetAccess = public)
% Meta
tag = REGION_TYPE.INVALID;
label = "";
properties
Property1
% Spatial
center = NaN;
radius = NaN;
height = NaN;
% Plotting
surface;
n = 32;
end
methods
function obj = cone(inputArg1,inputArg2)
%CONE Construct an instance of this class
% Detailed explanation goes here
obj.Property1 = inputArg1 + inputArg2;
end
function obj = initialize(obj, center, radius, height, tag, label)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'cone')};
center (1, 3) double;
radius (1, 1) double;
height (1, 1) double;
tag (1, 1) REGION_TYPE = REGION_TYPE.INVALID;
label (1, 1) string = "";
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'cone')};
end
function outputArg = method1(obj,inputArg)
%METHOD1 Summary of this method goes here
% Detailed explanation goes here
outputArg = obj.Property1 + inputArg;
obj.center = center;
obj.radius = radius;
obj.height = height;
obj.tag = tag;
obj.label = label;
end
function [obj, f] = plot(obj, ind, f)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'cone')};
ind (1, :) double = NaN;
f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'cone')};
f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
end
% Create axes if they don't already exist
f = firstPlotSetup(f);
% Plot cone
[X, Y, Z] = cylinder([obj.radius, 0], obj.n);
% Scale to match height
Z = Z * obj.height;
% Move to center location
X = X + obj.center(1);
Y = Y + obj.center(2);
Z = Z + obj.center(3);
% Plot
if isnan(ind)
o = surf(f.CurrentAxes, X, Y, Z);
else
hold(f.Children(1).Children(ind(1)), "on");
o = surf(f.Children(1).Children(ind(1)), X, Y, Z, ones([size(Z), 1]) .* reshape(obj.tag.color, 1, 1, 3), 'FaceAlpha', 0.25, 'EdgeColor', 'none');
hold(f.Children(1).Children(ind(1)), "off");
end
% Copy to other requested tiles
if numel(ind) > 1
for ii = 2:size(ind, 2)
o = [o, copyobj(o(:, 1), f.Children(1).Children(ind(ii)))];
end
end
obj.surface = o;
end
end
end