42 lines
1.3 KiB
Matlab
42 lines
1.3 KiB
Matlab
function obj = initialize(obj, center, radius, tag, label)
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arguments (Input)
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obj (1, 1) {mustBeA(obj, 'spherical')};
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center (1, 3) double;
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radius (1, 1) 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, 'spherical')};
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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
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obj.center = center;
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obj.radius = radius;
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obj.diameter = 2 * obj.radius;
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% Initialize CBF
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obj.barrierFunction = @(x) NaN;
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% gradient of barrier function
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obj.dBarrierFunction = @(x) NaN;
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% fake vertices in a cross pattern
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obj.vertices = [obj.center + [obj.radius, 0, 0]; ...
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obj.center - [obj.radius, 0, 0]; ...
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obj.center + [0, obj.radius, 0]; ...
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obj.center - [0, obj.radius, 0]; ...
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obj.center + [0, 0, obj.radius]; ...
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obj.center - [0, 0, obj.radius]];
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% fake edges in two perpendicular rings
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obj.edges = [1, 3; ...
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3, 2; ...
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2, 4; ...
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4, 1; ...
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1, 5; ...
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5, 2; ...
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2, 6; ...
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6, 1];
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end |