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CreateObstacles.m
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CreateObstacles.m
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%{
* Copyright (C) 2013-2025, The Regents of The University of Michigan.
* All rights reserved.
* This software was developed in the Biped Lab (https://www.biped.solutions/)
* under the direction of Jessy Grizzle, [email protected]. This software may
* be available under alternative licensing terms; contact the address above.
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
* The views and conclusions contained in the software and documentation are those
* of the authors and should not be interpreted as representing official policies,
* either expressed or implied, of the Regents of The University of Michigan.
*
* AUTHOR: Bruce JK Huang (bjhuang[at]umich.edu)
* WEBSITE: https://www.brucerobot.com/
%}
function [object_list, color_list] = CreateObstacles(scene)
fprintf("--- Using profile: %i\n", scene)
switch scene
case 0
[object_list, color_list] = getScene0();
case 1
[object_list, color_list] = getScene1();
case 2
[object_list, color_list] = getScene2();
case 3
[object_list, color_list] = getScene3();
case 4
[object_list, color_list] = getScene4();
case 5
[object_list, color_list] = getScene5();
case 6
[object_list, color_list] = getScene6();
case 7
[object_list, color_list] = getScene7();
case 8
[object_list, color_list] = getScene8();
case 9
[object_list, color_list] = getScene9();
case 10
[object_list, color_list] = getScene10();
case 11
[object_list, color_list] = getScene11();
case 12
[object_list, color_list] = getScene12();
case 13
[object_list, color_list] = getScene13();
case 14
[object_list, color_list] = getScene14();
case 21
[object_list, color_list] = getScene21();
case 22
[object_list, color_list] = getScene22();
case 23
[object_list, color_list] = getScene23();
case 24
[object_list, color_list] = getScene24();
case 25
[object_list, color_list] = getScene25();
case 26
[object_list, color_list] = getScene26();
case 27
[object_list, color_list] = getScene27();
case 28
[object_list, color_list] = getScene28();
case 29
[object_list, color_list] = getScene29();
case 30
[object_list, color_list] = getScene30();
case 91
[object_list, color_list] = getScene91();
case 92
[object_list, color_list] = getScene92();
otherwise
error("inexistent scene: #%i", scene)
end
fprintf("--- This profile contains %i of target(s).\n", length(object_list))
for object = 1:length(object_list)
[object_list(object).normal, object_list(object).centroid] = computePlane(object_list(object));
end
end