From c8d66cd2b2c8636b04d8dc2cf693136eea000a5a Mon Sep 17 00:00:00 2001
From: "Marco P. Nogueira" <marco.nogueira@uwaterloo.ca>
Date: Thu, 5 Apr 2018 21:56:38 -0400
Subject: [PATCH] Correct obstacles variable references and improved visuals

+updated obstacles o variable references to obsts
+plots titles, tighter axis, and legend on position plot
+3D viewpoint on potential field surface map
---
 .../gallerypfield/potentialField.m                  | 13 ++++++++++---
 1 file changed, 10 insertions(+), 3 deletions(-)

diff --git a/matlab_simulation/02-examples_practice/gallerypfield/potentialField.m b/matlab_simulation/02-examples_practice/gallerypfield/potentialField.m
index befaa49..b66f457 100644
--- a/matlab_simulation/02-examples_practice/gallerypfield/potentialField.m
+++ b/matlab_simulation/02-examples_practice/gallerypfield/potentialField.m
@@ -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),:); 
@@ -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
@@ -86,6 +86,9 @@
 plot(x(1,1:t-1), x(2,1:t-1));
 figure(4);
 plot(x(:,1:t-1)');
+title('Robot Position');
+legend('X', 'Y', 'Location', 'South');
+axis([0 t-1 0 N]);
 
 % Grid up the space
 dx = 0.4;
@@ -109,7 +112,7 @@
         
         %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];
@@ -138,9 +141,13 @@
 
 figure(2); clf; hold on;
 surf(X,Y,V)
+title('Potential Field Surface');
+view(15, 80);
 %axis([posMinBound(1) posMaxBound(1) posMinBound(2) posMaxBound(2) 0 Vmax])
 
 figure(3); clf; hold on;
 quiver(X,Y,squeeze(-gV(1,:,:)),squeeze(-gV(2,:,:)))
+title('Potential Field');
+axis([0 M 0 N]);
 %plotEnvironment(obsPtsStore,posMinBound, posMaxBound, startPos, endPos);