how can i apply voronoi command in this file anybody can help me with that?

Question

amina shafanejad 2015-4-25

0
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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/213509-how-can-i-apply-voronoi-command-in-this-file-anybody-can-help-me-with-that

评论： Geoff Hayes 2015-4-27

how can i apply voronoi diagram inside this command

clc; close;
openfig('Simple4.fig');hold on
Xs=1; Ys=1; Xg=9; Yg=9;
n=1300;  step=0.5
CON=zeros(n);
size=1; Reach=0; N=zeros(2,n); N(1,1)=Xs; N(2,1)=Ys;
tic; 
while size<n
      if sqrt((N(1,size)-Xg)^2+(N(2,size)-Yg)^2)<step
          Reach=1; ReachG=size; break
      end
      %%%%%%%%%%%%%%%Xrand (Collision Free) %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
      CD=0;
      while CD==0
          Xc=10*rand(1); Yc=10*rand(1); Xn=Xc; Yn=Yc; simple4ColDec
      end
      Xrand=Xc; Yrand=Yc;
      %%%%%%%%%%%%%%%Xnearest %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
      min=100;
      for i=1:size
          if sqrt((N(1,i)-Xrand)^2+(N(2,i)-Yrand)^2)<min
              min=sqrt((N(1,i)-Xrand)^2+(N(2,i)-Yrand)^2);
              Xnearest= N(1,i); Ynearest=N(2,i); nearest=i;
          end
      end
   %%%%%%%%%%%%%%%Xnew (Expanding the tree) %%%%%%%%%%%%%%%%%%%%%%%%%%%%
      Xc=Xnearest; Yc=Ynearest; CD=1;
      D=sqrt((Xnearest-Xrand)^2+(Ynearest-Yrand)^2);
      if step<=sqrt((Xnearest-Xrand)^2+(Ynearest-Yrand)^2)
          Xn=((v-step)/v)*Xnearest+(step/v)*Xrand;
          Yn=((v-step)/v)*Ynearest+(step/v)*Yrand;
      else
         Xn=Xrand; Yn=Yrand;
      end 
      simple4steer
      if CD==1
          Xnew=Xrand; Ynew=Yrand;
      else
          Xnew=((v-1)/100)*Xrand+(1-(v-1)/100)*Xnearest;
          Ynew=((v-1)/100)*Yrand+(1-(v-1)/100)*Ynearest;
end
      size=size+1
      N(1,size)=Xnew; N(2,size)=Ynew;
      CON(nearest,size)=sqrt((N(1,nearest)-N(1,size))^2+ ...
      (N(2,nearest)-N(2,size))^2);
      CON(size,nearest)=CON(nearest,size);
end
t1=toc;
Reach
if Reach==1
      N(1,size+1)=Xg; N(2,size+1)=Yg;
      CON(ReachG,size+1)=sqrt((N(1,ReachG)-Xg)^2+(N(2,ReachG)-Yg)^2);
      CON(size+1,ReachG)=CON(ReachG,size+1);
end
for i=1:size
      plot(N(1,i),N(2,i),'go','markersize',2,'MarkerFaceColor','g');
      for j=1:size
         if CON(i,j)>0
             plot([N(1,j) N(1,i)], [N(2,j) N(2,i)],'color',...
             [0,0.5,0.8],'linewidth',1);
         end 
      end  
  end
if Reach==1
      G=sparse(CON);
      [dist, path]=graphshortestpath(G, 1, size+1); l=length(path);
      for i=1:l-1
          plot([N(1,path(i)) N(1,path(i+1))], [N(2,path(i)) ... 
          N(2,path(i+1))],'b','linewidth',3);
      end
end 
[t1 dist Reach]
plot(Xs,Ys,'--rs','LineWidth',2.5,'MarkerEdgeColor','k',...
'MarkerFaceColor','y','MarkerSize',20); hold on
plot(Xg,Yg,'--rs','LineWidth',2.5,'MarkerEdgeColor','k',...
'MarkerFaceColor','g','MarkerSize',20)
axis equal