Problem 2242. Wayfinding 5 - Travel contour

Created by J-G van der Toorn

Solve Later

{"relationships":[{"relationshipType":"http://schemas.mathworks.com/matlab/code/2013/relationships/document","targetMode":"","relationshipId":"rId1","target":"/matlab/document.xml"},{"relationshipType":"http://schemas.mathworks.com/matlab/code/2013/relationships/output","targetMode":"","relationshipId":"rId2","target":"/matlab/output.xml"}],"parts":[{"partUri":"/matlab/document.xml","relationship":[{"relationshipType":"http://schemas.mathworks.com/matlab/code/2013/relationships/image","targetMode":"","relationshipId":"rId1","target":"/media/image1.JPEG"}],"contentType":"application/vnd.mathworks.matlab.code.document+xml","content":"<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n<w:document xmlns:w=\"http://schemas.openxmlformats.org/wordprocessingml/2006/main\"><w:body><w:p><w:pPr><w:pStyle w:val=\"text\"/></w:pPr><w:r><w:t>This is the fifth part of a series of assignments about wayfinding. The final goal of this series is to be able to calculate the fastest route through a terrain of areas with different properties. The assignments will build on top of each other, gradually increasing the complexity, but guiding you stepwise towards the final goal. You can re-use code from preceding assignments to save some work. See </w:t></w:r><w:r><w:t> </w:t></w:r><w:hyperlink w:docLocation=\"http://www.mathworks.nl/matlabcentral/cody/?term=tag%3Awayfinding\"><w:r><w:t>search:tag=wayfinding</w:t></w:r></w:hyperlink><w:r><w:t> for the other assignments.</w:t></w:r></w:p><w:p><w:pPr><w:pStyle w:val=\"text\"/></w:pPr><w:r><w:t>This time, you will travel around a polygon, over its contour. You get the nodes of the polygon, in the correct order, as a</w:t></w:r><w:r><w:t> </w:t></w:r><w:r><w:rPr><w:rFonts w:cs=\"monospace\"/></w:rPr><w:t>2xn</w:t></w:r><w:r><w:t> array</w:t></w:r><w:r><w:t> </w:t></w:r><w:r><w:rPr><w:rFonts w:cs=\"monospace\"/></w:rPr><w:t>F</w:t></w:r><w:r><w:t>. The last node of</w:t></w:r><w:r><w:t> </w:t></w:r><w:r><w:rPr><w:rFonts w:cs=\"monospace\"/></w:rPr><w:t>F</w:t></w:r><w:r><w:t> is connected to the first node.</w:t></w:r></w:p><w:p><w:pPr><w:pStyle w:val=\"text\"/></w:pPr><w:r><w:rPr><w:rFonts w:cs=\"monospace\"/></w:rPr><w:t>a</w:t></w:r><w:r><w:t> is the index in</w:t></w:r><w:r><w:t> </w:t></w:r><w:r><w:rPr><w:rFonts w:cs=\"monospace\"/></w:rPr><w:t>F</w:t></w:r><w:r><w:t> of the starting node, and</w:t></w:r><w:r><w:t> </w:t></w:r><w:r><w:rPr><w:rFonts w:cs=\"monospace\"/></w:rPr><w:t>b</w:t></w:r><w:r><w:t> is the goal.</w:t></w:r></w:p><w:p><w:pPr><w:pStyle w:val=\"text\"/></w:pPr><w:customXml w:element=\"image\"><w:customXmlPr><w:attr w:name=\"height\" w:val=\"-1\"/><w:attr w:name=\"width\" w:val=\"-1\"/><w:attr w:name=\"relationshipId\" w:val=\"rId1\"/></w:customXmlPr></w:customXml></w:p><w:p><w:pPr><w:pStyle w:val=\"text\"/></w:pPr><w:r><w:t>Calculate the shortest distance from</w:t></w:r><w:r><w:t> </w:t></w:r><w:r><w:rPr><w:rFonts w:cs=\"monospace\"/></w:rPr><w:t>a</w:t></w:r><w:r><w:t> to</w:t></w:r><w:r><w:t> </w:t></w:r><w:r><w:rPr><w:rFonts w:cs=\"monospace\"/></w:rPr><w:t>b</w:t></w:r><w:r><w:t> over the contour of the polygon.</w:t></w:r></w:p><w:p><w:pPr><w:pStyle w:val=\"text\"/></w:pPr><w:r><w:t>The distance is measured as the Euclidean distance between points. You can not enter the internal area of the polygon. The contour of the polygon does not self-intersect.</w:t></w:r></w:p></w:body></w:document>"},{"partUri":"/matlab/output.xml","contentType":"text/xml","content":"<?xml version=\"1.0\" encoding=\"UTF-8\" standalone=\"no\" ?><embeddedOutputs><metaData><evaluationState>manual</evaluationState><layoutState>code</layoutState><outputStatus>ready</outputStatus></metaData><outputArray type=\"array\"/><regionArray type=\"array\"/></embeddedOutputs>"},{"partUri":"/media/image1.JPEG","contentType":"image/JPEG","content":"data:image/JPEG;base64,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"}]}

This is the fifth part of a series of assignments about wayfinding. The final goal of this series is to be able to calculate the fastest route through a terrain of areas with different properties. The assignments will build on top of each other, gradually increasing the complexity, but guiding you stepwise towards the final goal. You can re-use code from preceding assignments to save some work. See <a href = "http://www.mathworks.nl/matlabcentral/cody/?term=tag%3Awayfinding">search:tag=wayfinding</a> for the other assignments.This time, you will travel around a polygon, over its contour. You get the nodes of the polygon, in the correct order, as a <tt>2xn</tt> array <tt>F</tt>. The last node of <tt>F</tt> is connected to the first node.<tt>a</tt> is the index in <tt>F</tt> of the starting node, and <tt>b</tt> is the goal.<img src = "http://i61.tinypic.com/iq8p69.png">Calculate the shortest distance from <tt>a</tt> to <tt>b</tt> over the contour of the polygon.The distance is measured as the Euclidean distance between points. You can not enter the internal area of the polygon. The contour of the polygon does not self-intersect.

This is the fifth part of a series of assignments about wayfinding. The final goal of this series is to be able to calculate the fastest route through a terrain of areas with different properties. The assignments will build on top of each other, gradually increasing the complexity, but guiding you stepwise towards the final goal. You can re-use code from preceding assignments to save some work. See 
<http://www.mathworks.nl/matlabcentral/cody/?term=tag%3Awayfinding search:tag=wayfinding> for the other assignments.

This time, you will travel around a polygon, over its contour. You get the nodes of the polygon, in the correct order, as a |2xn| array |F|. The last node of |F| is connected to the first node.

|a| is the index in |F| of the starting node, and |b| is the goal.

<<http://i61.tinypic.com/iq8p69.png>>

Calculate the shortest distance from |a| to |b| over the contour of the polygon.

The distance is measured as the Euclidean distance between points. You can not enter the internal area of the polygon. The contour of the polygon does not self-intersect.

Solve

Solution Stats

7 Solutions
5 Solvers

Last Solution submitted on Dec 18, 2019

Last 200 Solutions

Problem Recent Solvers5

Problem Tags

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Problem 2242. Wayfinding 5 - Travel contour

Solution Stats

Last 200 Solutions

Problem Recent Solvers5

Suggested Problems

More from this Author31

Problem Tags

Community Treasure Hunt

Problem 2242. Wayfinding 5 - Travel contour

Solution Stats

Last 200 Solutions

Problem Recent Solvers5

Suggested Problems

More from this Author31

Problem Tags

Community Treasure Hunt

Players

WeChat