106 lines
3.9 KiB
Matlab
106 lines
3.9 KiB
Matlab
classdef rectangularPrismConstraint
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% Rectangular prism constraint geometry
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properties (SetAccess = private, GetAccess = public)
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tag = REGION_TYPE.INVALID;
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label = "";
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minCorner = NaN(1, 3);
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maxCorner = NaN(1, 3);
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dimensions = NaN(1, 3);
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center = NaN;
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vertices = NaN(8, 3);
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footprint = NaN(4, 2);
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end
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methods (Access = public)
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function obj = initialize(obj, bounds, tag, label)
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arguments (Input)
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obj (1, 1) {mustBeA(obj, 'rectangularPrismConstraint')};
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bounds (2, 3) double;
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tag (1, 1) REGION_TYPE = REGION_TYPE.INVALID;
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label (1, 1) string = "";
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end
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arguments (Output)
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obj (1, 1) {mustBeA(obj, 'rectangularPrismConstraint')};
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end
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obj.tag = tag;
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obj.label = label;
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%% Define geometry bounds by LL corner and UR corner
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obj.minCorner = bounds(1, 1:3);
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obj.maxCorner = bounds(2, 1:3);
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% Compute L, W, H
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obj.dimensions = [obj.maxCorner(1) - obj.minCorner(1), obj.maxCorner(2) - obj.minCorner(2), obj.maxCorner(3) - obj.minCorner(3)];
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% Compute center
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obj.center = obj.minCorner + obj.dimensions ./ 2;
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% Compute vertices
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obj.vertices = [obj.minCorner;
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obj.maxCorner(1), obj.minCorner(2:3);
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obj.maxCorner(1:2), obj.minCorner(3);
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obj.minCorner(1), obj.maxCorner(2), obj.minCorner(3);
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obj.minCorner(1:2), obj.maxCorner(3);
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obj.maxCorner(1), obj.minCorner(2), obj.maxCorner(3);
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obj.minCorner(1), obj.maxCorner(2:3)
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obj.maxCorner;];
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% Compute footprint
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obj.footprint = [obj.minCorner(1:2); ...
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[obj.minCorner(1), obj.maxCorner(2)]; ...
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[obj.maxCorner(1), obj.minCorner(2)]; ...
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obj.maxCorner(1:2)];
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end
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function r = random(obj)
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arguments (Input)
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obj (1, 1) {mustBeA(obj, 'rectangularPrismConstraint')};
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end
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arguments (Output)
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r (1, 3) double
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end
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r = (obj.vertices(1, 1:3) + rand(1, 3) .* obj.vertices(8, 1:3) - obj.vertices(1, 1:3))';
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end
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function c = contains(obj, pos)
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arguments (Input)
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obj (1, 1) {mustBeA(obj, 'rectangularPrismConstraint')};
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pos (:, 3) double;
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end
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arguments (Output)
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c (:, 1) logical
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end
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c = all(pos >= repmat(obj.minCorner, size(pos, 2), 1), 2) & all(pos <= repmat(obj.maxCorner, size(pos, 2), 1), 2);
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end
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function f = plotWireframe(obj, f)
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arguments (Input)
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obj (1, 1) {mustBeA(obj, 'rectangularPrismConstraint')};
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f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
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end
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arguments (Output)
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f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
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end
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% Create axes if they don't already exist
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f = firstPlotSetup(f);
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edges = [1 2; 2 3; 3 4; 4 1; % bottom square
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5 6; 6 8; 8 7; 7 5; % top square
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1 5; 2 6; 3 8; 4 7]; % vertical edges
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% Create plotting inputs from vertices and edges
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X = [obj.vertices(edges(:,1),1), obj.vertices(edges(:,2),1)]';
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Y = [obj.vertices(edges(:,1),2), obj.vertices(edges(:,2),2)]';
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Z = [obj.vertices(edges(:,1),3), obj.vertices(edges(:,2),3)]';
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% Plot the boundaries of the constraint geometry
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hold(f.CurrentAxes, "on");
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plot3(X, Y, Z, '-', 'Color', obj.tag.color, 'LineWidth', 2);
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hold(f.CurrentAxes, "off");
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end
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end
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end |