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Potential fields typo #74

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Potential fields typo #74

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4a8791f
Merge pull request #3 from WaterlooRobotics/master
idlebear Mar 30, 2018
55bc02d
Typo in variable name
idlebear Mar 31, 2018
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6 changes: 3 additions & 3 deletions matlab_simulation/02-examples_practice/gallerypfield/potentialField.m
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@
numObsts = length(obsts);

for i=1:numObsts
co=o{i};
co=obsts{i};
[co(:,1), co(:,2)] = poly2ccw(co(:,1), co(:,2)); % Convert to ccw poly
K = convhull(co(:,1), co(:,2)); % Take convex hull
co = co(K(1:end-1),:);
Expand Down Expand Up @@ -64,7 +64,7 @@

gVcur = Katt*(pos-endPos);
for m=1:numObsts
curobs = o{m};
curobs = obsts{m};
if (inpolygon(pos(1),pos(2),curobs(:,1),curobs(:,2)))
gVcur = [NaN NaN];
else
Expand Down Expand Up @@ -109,7 +109,7 @@

%Repulsive potentials
for m=1:numObsts
curobs = o{m};
curobs = obsts{m};
if (inpolygon(pos(1),pos(2),curobs(:,1),curobs(:,2)))
V(i,j) = Vmax;
gV(:,i,j) = [NaN NaN];
Expand Down