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change to phi bounds

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xdemenchuk
2021-11-28 18:53:09 -05:00
parent 81363e8e2a
commit cc4d3a4ea2
15 changed files with 1589 additions and 4 deletions
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27
SimPkg_F21(student_ver)/senseObstacles.m Normal file
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function Xobs_seen = senseObstacles(curr_pos, Xobs)
% Xobs_seen = senseObstacles(curr_pos, Xobs)
%
% Given the current vehicle position, sense the obstacles within 150m.
%
% INPUTS:
% curr_pos a 2-by-1 vector where the 1st and 2nd elements represent the
% x and y coordinates of the current vehicle position
%
% Xobs a cell array generated by generateRandomObstacles.m
%
% OUTPUTS:
% Xobs_seen a cell array which contains all obstacles that are no
% greater than 150m from the vehicle. Each cell has the same
% structure as the cells in Xobs.
%
% Written by: Jinsun Liu
% Created: 31 Oct 2021
Xobs_mat = cell2mat(Xobs');
dist = (Xobs_mat(:,1) - curr_pos(1)).^2 + (Xobs_mat(:,2) - curr_pos(2)).^2;
idx = unique(ceil(find(dist<=150^2)/4));
Xobs_seen = {Xobs{idx}};
end