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sweep_transition_visualization.m
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sweep_transition_visualization.m
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close all hidden
clear Frame2
colours1=["#E8E8E8";"#B8B8B8";"#8C8C8C";"#EDB120";"#7E2F8E";"#77AC30";"#4DBEEE";"#A2142F";"#0072BD";"#D95319"];
statescolor=["#ED7D31";"#24AC51";"#77AC30";"#000000";"#A2142F";"#7030A0";"#D95319"];
statescolor2=["#7030A0";"#24AC51";"#77AC30";"#000000";"#A2142F";"#7030A0";"#D95319"];
states_name=["transiting";"sweeping";"waiting";"moving up";"finished"];
robots=["robot 1:";"robot 2:";"robot 3:";"robot 4:";"robot 5:";"robot 6:";"robot 7:";"robot 8:";"robot 9:";"robot 10:"];
figure
skip_a_robot=false;
regions=gobjects(p.num_vert,p.num_horiz);
polygons=gobjects(p.num_vert,2);
boundary_polygons=gobjects(p.num_vert,2);
for i=1:p.num_vert
for j=1:p.num_horiz
for k=1:size(finite_omega_values,2)
if p.building(i,j)==finite_omega_values(k)
if j==1
regions(i,j)=rectangle('EdgeColor','black','FaceColor',colours1(k));
regions(i,j).Position=[x_0(p.num_vert-i+1,1), (p.num_vert-i)*p.building_block_height,...
p.building_block_length-x_0(p.num_vert-i+1,1),p.building_block_height];
myvertices=[0 (p.num_vert-i+1)*p.building_block_height; 0 (p.num_vert-i)*p.building_block_height];
for ii=(p.num_vert-i)*p.building_block_height/0.1+1:(p.num_vert-i+1)*p.building_block_height/0.1+1
myvertices=[myvertices;boundary(ii,2) boundary(ii,1)];
end
f=1:size(myvertices,1);
polygons(i,1)=patch('Faces',f,'Vertices',myvertices,'FaceColor','white');
break;
elseif j==p.num_horiz
regions(i,j)=rectangle('EdgeColor','black','FaceColor',colours1(k));
regions(i,j).Position=[(j-1)*p.building_block_length, (p.num_vert-i)*p.building_block_height,...
x_n(p.num_vert-i+1,2)-(j-1)*p.building_block_length,p.building_block_height];
myvertices=[p.num_horiz*p.building_block_length (p.num_vert-i+1)*p.building_block_height;...
p.num_horiz*p.building_block_length (p.num_vert-i)*p.building_block_height];
for ii=(p.num_vert-i)*p.building_block_height/0.1+1:(p.num_vert-i+1)*p.building_block_height/0.1+1
myvertices=[myvertices;boundary(ii,3) boundary(ii,1)];
end
f=1:size(myvertices,1);
polygons(i,2)=patch('Faces',f,'Vertices',myvertices,'FaceColor','white');
break;
else
regions(i,j)=rectangle('EdgeColor','black','FaceColor',colours1(k));
regions(i,j).Position=[(j-1)*p.building_block_length, (p.num_vert-i)*p.building_block_height,...
p.building_block_length,p.building_block_height];
break;
end
end
end
end
boundary_polygons(i,1)=patch('Faces',1:3,'Vertices',[0 0;0 0;0 0],'FaceColor','green');
boundary_polygons(i,2)=patch('Faces',1:3,'Vertices',[0 0;0 0;0 0],'FaceColor','green');
end
drawnow
hold on
plot(boundary(:,2),boundary(:,1),'Color','black','LineWidth',2.0);
plot(boundary(:,3),boundary(:,1),'Color','black','LineWidth',2.0);
posnn = get(gca, 'Position');
posnn(1) = 0.045;
posnn(3) = 0.65;
set(gca, 'Position', posnn)
set(gcf, 'Position', [10, 100, 800, 450])
partition_bar=gobjects(n,p.num_vert);
finished_part=gobjects(n,p.num_vert);
finished_boundary=gobjects(2,p.num_vert);
for i=1:n
for j=1:p.num_vert
partition_bar(i,j)=rectangle('EdgeColor','blue','FaceColor','blue');
partition_bar(i,j).Position=[p.building_block_length*p.num_horiz/n*i-p.building_block_length/3000000,...
0,p.building_block_length/15000000,p.building_block_height/100000];
hold on
finished_part(i,j)=rectangle('EdgeColor','b','FaceColor','g');
end
end
for i=2:n
partition_bar(i,1)=rectangle('EdgeColor','blue','FaceColor','blue');
partition_bar(i,1).Position=[partition(i,1,1)-p.building_block_length/30,...
0,p.building_block_length/15,p.building_block_height];
end
drawnow
hold on
for i=1:n
annotation('textbox', [0.75, n*0.06-(i-1)*0.06, 0.1, 0.1], 'String', robots(i), 'EdgeColor', '#F0F0F0','FontSize',12);
hold on
end
for i=1:n
statesannotate(i)=annotation('textbox', [0.85, n*0.06-(i-1)*0.06, 0.1, 0.1],'EdgeColor', '#F0F0F0','FontSize',12);
end
ph =gobjects(n,1);
for i=1:n
if (skip_a_robot&&i==3)
continue
end
ph(i) = plot(pos_x(i,1),pos_y(i,1),'or','MarkerSize',15,'MarkerFaceColor','b','MarkerEdgeColor','b'); %plot initial point
hold on
end
set(gca,'Xlim',[0 p.building_block_length*p.num_horiz], 'Ylim',[0 p.building_block_height*p.num_vert]);
%axis([0 p.building_block_length*p.num_horiz 0 p.building_block_height*p.num_vert])
j=1;
for k=1:size(pos_x(1,:),2)
for num=2:p.num_vert+1
if k<=sum(kmax(2:num))+(num-1)*(k_vert-1)
j=num;
break;
% else
% j=0;
end
end
for i=1:n
if rem(j,2)==1
statesannotate(i).String=states_name(states_all(i,k));
statesannotate(i).Color=statescolor(states_all(i,k));
else
statesannotate(i).String=states_name(states_all(i,k));
statesannotate(i).Color=statescolor2(states_all(i,k));
end
end
if j==2
kk=k;
else
kk=k-sum(kmax(2:j-1))-(j-2)*(k_vert-1);
end
if j~=p.num_vert+1 && kk<=kmax(j)
for i=2:n
%partition_bar(i,j)=rectangle('EdgeColor','g','FaceColor','g');
partition_bar(i,j).Position=[partition(i,j,kk)-p.building_block_length/30,...
(j-1)*p.building_block_height,p.building_block_length/15,p.building_block_height];
end
end
for i=1:n
if (skip_a_robot&&i==3)
continue
end
if rem(j-1,2)==1&& kk<=kmax(j)
if kk>finish_transition_time(i,j-1)
if i==1
if pos(i,j-1,kk)<x_0(j-1,2)
bound_low=boundary((j-2)*p.building_block_height/0.1+1,2);
bound_up=boundary((j-1)*p.building_block_height/0.1+1,2);
if pos(i,j-1,kk)>=bound_low&&pos(i,j-1,kk)<bound_up
myvertices=[pos(i,j-1,kk) (j-2)*p.building_block_height];
for ii=(j-2)*p.building_block_height/0.1+1:(j-1)*p.building_block_height/0.1+1
if boundary(ii,2)<=pos(i,j-1,kk)
myvertices=[myvertices;boundary(ii,2) boundary(ii,1)];
else
break;
end
end
f=1:size(myvertices,1);
% boundary_polygons(i,1).Faces=f;
% boundary_polygons(i,1).Vertices=myvertices;
boundary_polygons(j-1,1)=patch('Faces',f,'Vertices',myvertices,'FaceColor','green');
elseif pos(i,j-1,kk)<bound_low&&pos(i,j-1,kk)>=bound_up
myvertices=[pos(i,j-1,kk) (j-1)*p.building_block_height];
for ii=(j-1)*p.building_block_height/0.1+1:(j-2)*p.building_block_height/0.1+1
if boundary(ii,2)<=pos(i,j-1,kk)
myvertices=[myvertices;boundary(ii,2) boundary(ii,1)];
else
break;
end
end
f=1:size(myvertices,1);
% boundary_polygons(i,1).Faces=f;
% boundary_polygons(i,1).Vertices=myvertices;
boundary_polygons(j-1,1)=patch('Faces',f,'Vertices',myvertices,'FaceColor','green');
else
myvertices=[];
for ii=(j-1)*p.building_block_height/0.1+1:(j-2)*p.building_block_height/0.1+1
myvertices=[myvertices;boundary(ii,2) boundary(ii,1)];
end
f=1:size(myvertices,1);
% boundary_polygons(i,1).Faces=f;
% boundary_polygons(i,1).Vertices=myvertices;
boundary_polygons(j-1,1)=patch('Faces',f,'Vertices',myvertices,'FaceColor','green');
end
else
if abs(pos(i,j-1,kk)-x_0(j-1,2))>=p.building_block_length/30
myvertices=[pos(i,j-1,kk)-p.building_block_length/30 (j-1)*p.building_block_height;...
pos(i,j-1,kk)-p.building_block_length/30 (j-2)*p.building_block_height];
else
myvertices=[pos(i,j-1,kk) (j-1)*p.building_block_height;...
pos(i,j-1,kk) (j-2)*p.building_block_height];
end
for ii=(j-2)*p.building_block_height/0.1+1:(j-1)*p.building_block_height/0.1+1
myvertices=[myvertices;boundary(ii,2) boundary(ii,1)];
end
f=1:size(myvertices,1);
% boundary_polygons(i,1).Faces=f;
% boundary_polygons(i,1).Vertices=myvertices;
boundary_polygons(j-1,1)=patch('Faces',f,'Vertices',myvertices,'FaceColor','green');
end
elseif i==n
if pos(i,j-1,kk)>x_n(j-1,1)
bound_low=boundary((j-2)*p.building_block_height/0.1+1,3);
bound_up=boundary((j-1)*p.building_block_height/0.1+1,3);
if pos(i,j-1,kk)>=bound_low&&pos(i,j-1,kk)<bound_up
myvertices=[...
pos(i,j-1,kk) (j-1)*p.building_block_height;...
partition(i,j-1,kmax(j-1)) (j-1)*p.building_block_height;...
partition(i,j-1,kmax(j-1)) (j-2)*p.building_block_height];
for ii=(j-2)*p.building_block_height/0.1+1:(j-1)*p.building_block_height/0.1+1
if boundary(ii,3)<=pos(i,j-1,kk)
myvertices=[myvertices;boundary(ii,3) boundary(ii,1)];
else
break;
end
end
f=1:size(myvertices,1);
% boundary_polygons(i,1).Faces=f;
% boundary_polygons(i,1).Vertices=myvertices;
boundary_polygons(j-1,2)=patch('Faces',f,'Vertices',myvertices,'FaceColor','green');
elseif pos(i,j-1,kk)<bound_low&&pos(i,j-1,kk)>=bound_up
myvertices=[...
pos(i,j-1,kk) (j-2)*p.building_block_height;...
partition(i,j-1,kmax(j-1)) (j-2)*p.building_block_height;...
partition(i,j-1,kmax(j-1)) (j-1)*p.building_block_height];
for ii=(j-1)*p.building_block_height/0.1+1:-1:(j-2)*p.building_block_height/0.1+1
if boundary(ii,3)<=pos(i,j-1,kk)
myvertices=[myvertices;boundary(ii,3) boundary(ii,1)];
else
break;
end
end
f=1:size(myvertices,1);
% boundary_polygons(i,1).Faces=f;
% boundary_polygons(i,1).Vertices=myvertices;
boundary_polygons(j-1,2)=patch('Faces',f,'Vertices',myvertices,'FaceColor','green');
else
myvertices=[partition(i,j-1,kmax(j-1)) (j-1)*p.building_block_height;...
partition(i,j-1,kmax(j-1)) (j-2)*p.building_block_height];
for ii=(j-2)*p.building_block_height/0.1+1:(j-1)*p.building_block_height/0.1+1
myvertices=[myvertices;boundary(ii,3) boundary(ii,1)];
end
f=1:size(myvertices,1);
% boundary_polygons(i,1).Faces=f;
% boundary_polygons(i,1).Vertices=myvertices;
boundary_polygons(i,2)=patch('Faces',f,'Vertices',myvertices,'FaceColor','green');
end
else
myvertices=[partition(i,j-1,kmax(j-1)) (j-1)*p.building_block_height;...
partition(i,j-1,kmax(j-1)) (j-2)*p.building_block_height;...
pos(i,j-1,kk) (j-2)*p.building_block_height;...
pos(i,j-1,kk) (j-1)*p.building_block_height];
f=1:size(myvertices,1);
% boundary_polygons(i,1).Faces=f;
% boundary_polygons(i,1).Vertices=myvertices;
boundary_polygons(i,2)=patch('Faces',f,'Vertices',myvertices,'FaceColor','green');
end
else
finished_part(i,j-1).Position=[partition(i,j-1,kmax(j-1)),(j-2)*p.building_block_height...
abs(pos(i,j-1,kk)-partition(i,j-1,kmax(j-1))),p.building_block_height];
end
end
elseif kk<=kmax(j)
if kk>finish_transition_time(i,j-1)
if i==1
if pos(i,j-1,kk)<x_0(j-1,2)
bound_low=boundary((j-2)*p.building_block_height/0.1+1,2);
bound_up=boundary((j-1)*p.building_block_height/0.1+1,2);
if pos(i,j-1,kk)>=bound_low&&pos(i,j-1,kk)<bound_up
myvertices=[...
pos(i,j-1,kk) (j-2)*p.building_block_height;...
partition(i+1,j-1,kmax(j-1))-p.building_block_length/30 (j-2)*p.building_block_height;...
partition(i+1,j-1,kmax(j-1))-p.building_block_length/30 (j-1)*p.building_block_height];
for ii=-(j-1)*p.building_block_height/0.1-1:-(j-2)*p.building_block_height/0.1-1
if boundary(-ii,2)>=pos(i,j-1,kk)
myvertices=[myvertices;boundary(-ii,2) boundary(-ii,1)];
else
break;
end
end
f=1:size(myvertices,1);
% boundary_polygons(i,1).Faces=f;
% boundary_polygons(i,1).Vertices=myvertices;
boundary_polygons(j-1,1)=patch('Faces',f,'Vertices',myvertices,'FaceColor','green','EdgeColor','none');
elseif pos(i,j-1,kk)<bound_low&&pos(i,j-1,kk)>=bound_up
myvertices=[...
pos(i,j-1,kk) (j-1)*p.building_block_height;...
partition(i+1,j-1,kmax(j-1))-p.building_block_length/30 (j-1)*p.building_block_height;...
partition(i+1,j-1,kmax(j-1))-p.building_block_length/30 (j-2)*p.building_block_height];
for ii=(j-2)*p.building_block_height/0.1+1:(j-1)*p.building_block_height/0.1+1
if boundary(ii,2)>=pos(i,j-1,kk)
myvertices=[myvertices;boundary(ii,2) boundary(ii,1)];
else
break;
end
end
f=1:size(myvertices,1);
% boundary_polygons(i,1).Faces=f;
% boundary_polygons(i,1).Vertices=myvertices;
boundary_polygons(j-1,1)=patch('Faces',f,'Vertices',myvertices,'FaceColor','green','EdgeColor','none');
else
myvertices=[partition(i+1,j-1,kmax(j-1))-p.building_block_length/30 (j-1)*p.building_block_height;...
partition(i+1,j-1,kmax(j-1))-p.building_block_length/30 (j-2)*p.building_block_height];
for ii=(j-2)*p.building_block_height/0.1+1:(j-1)*p.building_block_height/0.1+1
myvertices=[myvertices;boundary(ii,2) boundary(ii,1)];
end
f=1:size(myvertices,1);
% boundary_polygons(i,1).Faces=f;
% boundary_polygons(i,1).Vertices=myvertices;
boundary_polygons(i,1)=patch('Faces',f,'Vertices',myvertices,'FaceColor','green','EdgeColor','none');
end
else
if abs(partition(i+1,j-1,kmax(j-1))-pos(i,j-1,kk))<=p.building_block_length/30
myvertices=[partition(i+1,j-1,kmax(j-1))-p.building_block_length/30 (j-1)*p.building_block_height;...
partition(i+1,j-1,kmax(j-1))-p.building_block_length/30 (j-2)*p.building_block_height;...
pos(i,j-1,kk)-p.building_block_length/30 (j-2)*p.building_block_height;...
pos(i,j-1,kk)-p.building_block_length/30 (j-1)*p.building_block_height];
else
myvertices=[partition(i+1,j-1,kmax(j-1))-p.building_block_length/30 (j-1)*p.building_block_height;...
partition(i+1,j-1,kmax(j-1))-p.building_block_length/30 (j-2)*p.building_block_height;...
pos(i,j-1,kk) (j-2)*p.building_block_height;...
pos(i,j-1,kk) (j-1)*p.building_block_height];
end
f=1:size(myvertices,1);
% boundary_polygons(i,1).Faces=f;
% boundary_polygons(i,1).Vertices=myvertices;
boundary_polygons(i,1)=patch('Faces',f,'Vertices',myvertices,'FaceColor','green','EdgeColor','none');
end
elseif i==n
if pos(i,j-1,kk)>x_n(j-1,1)
bound_low=boundary((j-2)*p.building_block_height/0.1+1,3);
bound_up=boundary((j-1)*p.building_block_height/0.1+1,3);
if pos(i,j-1,kk)>=bound_low&&pos(i,j-1,kk)<bound_up
myvertices=[pos(i,j-1,kk) (j-1)*p.building_block_height];
for ii=(j-1)*p.building_block_height/0.1+1:-1:(j-2)*p.building_block_height/0.1+1
if boundary(ii,3)>=pos(i,j-1,kk)
myvertices=[myvertices;boundary(ii,3) boundary(ii,1)];
else
break;
end
end
f=1:size(myvertices,1);
% boundary_polygons(i,1).Faces=f;
% boundary_polygons(i,1).Vertices=myvertices;
boundary_polygons(j-1,2)=patch('Faces',f,'Vertices',myvertices,'FaceColor','green');
elseif pos(i,j-1,kk)<bound_low&&pos(i,j-1,kk)>=bound_up
myvertices=[pos(i,j-1,kk) (j-2)*p.building_block_height];
for ii=(j-2)*p.building_block_height/0.1+1:(j-1)*p.building_block_height/0.1+1
if boundary(ii,3)>=pos(i,j-1,kk)
myvertices=[myvertices;boundary(ii,3) boundary(ii,1)];
else
break;
end
end
f=1:size(myvertices,1);
% boundary_polygons(i,1).Faces=f;
% boundary_polygons(i,1).Vertices=myvertices;
boundary_polygons(j-1,2)=patch('Faces',f,'Vertices',myvertices,'FaceColor','green');
else
myvertices=[];
for ii=(j-1)*p.building_block_height/0.1+1:(j-2)*p.building_block_height/0.1+1
myvertices=[myvertices;boundary(ii,3) boundary(ii,1)];
end
f=1:size(myvertices,1);
% boundary_polygons(i,1).Faces=f;
% boundary_polygons(i,1).Vertices=myvertices;
boundary_polygons(j-1,2)=patch('Faces',f,'Vertices',myvertices,'FaceColor','green');
end
else
myvertices=[pos(i,j-1,kk) (j-1)*p.building_block_height;...
pos(i,j-1,kk) (j-2)*p.building_block_height];
for ii=(j-2)*p.building_block_height/0.1+1:(j-1)*p.building_block_height/0.1+1
myvertices=[myvertices;boundary(ii,3) boundary(ii,1)];
end
f=1:size(myvertices,1);
% boundary_polygons(i,1).Faces=f;
% boundary_polygons(i,1).Vertices=myvertices;
boundary_polygons(j-1,2)=patch('Faces',f,'Vertices',myvertices,'FaceColor','green');
end
else
finished_part(i,j-1).Position=[pos(i,j-1,kk),(j-2)*p.building_block_height...
abs(pos(i,j-1,kk)-partition(i+1,j-1,kmax(j-1))),p.building_block_height];
end
end
end
end
for i=1:n
if (skip_a_robot&&i==3)
continue
end
ph(i).XData = pos_x(i,k); %change x coordinate of the point
ph(i).YData = pos_y(i,k); %change y coordinate of the point
% uistack(ph(i),'top')
end
drawnow
% uistack(ph(1),'top')
% uistack(ph(5),'top')
Frame2(k) = getframe(gcf);
% pause(0.01) %control speed, if desired
end
% create the video writer with 1 fps
writerObj = VideoWriter('test345.avi');
writerObj.FrameRate = 10;
% set the seconds per image
% open the video writer
open(writerObj);
% write the frames to the video
for i=1:length(Frame2)
% convert the image to a frame
frame = Frame2(i) ;
writeVideo(writerObj, frame);
end
% close the writer object
close(writerObj);