obstacle avoidance

geometries/@rectangularPrism/closestToPoint.m

@@ -0,0 +1,19 @@
+function cPos = closestToPoint(obj, pos)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
+        pos (:, 3) double;
+    end
+    arguments (Output)
+        cPos (:, 3) double;
+    end
+    cPos = NaN(1, 3);
+    for ii = 1:3
+        if pos(ii) < obj.minCorner(ii)
+            cPos(ii) = obj.minCorner(ii);
+        elseif pos(ii) > obj.maxCorner(ii)
+            cPos(ii) = obj.maxCorner(ii);
+        else
+            cPos(ii) = pos(ii);
+        end
+    end
+end

geometries/@rectangularPrism/distance.m

@@ -4,7 +4,7 @@ function d = distance(obj, pos)
         pos (:, 3) double;
     end
     arguments (Output)
-        d (:, 1) double
+        d (:, 1) double;
     end
     if obj.contains(pos)
         % Queried point is inside geometry

geometries/@rectangularPrism/rectangularPrism.m

@@ -36,6 +36,7 @@ classdef rectangularPrism
         [obj   ] = initializeRandom(obj, tag, label, minDimension, maxDimension, domain);
         [r     ] = random(obj);
         [c     ] = contains(obj, pos);
+        [cPos  ] = closestToPoint(obj, pos);
         [d     ] = distance(obj, pos);
         [g     ] = distanceGradient(obj, pos);
         [c     ] = containsLine(obj, pos1, pos2);