HyRRTConnect/constructMP.m at main · HybridSystemsLab/HyRRTConnect · GitHub

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function MP = constructMP(I_fw, T_fw, I_bw, T_bw, edge_map_fw, edge_map_bw)
%CONSTRUCTMP Summary of this function goes here
%   Detailed explanation goes here
mp_fw = [];
mp_bw = [];

figure(1)
hold on;
if I_fw ~= 1
    mp_fw = getmotionplan(T_fw, I_fw, edge_map_fw);
%     plot3(mp_fw(3, :), mp_fw(4, :), mp_fw(5, :), '-', 'color',[0 0.5 0], 'DisplayName', 'Forward Partial Motion Plan', 'LineWidth', 3);
end

q1 = plot(mp_fw(3, 1:2), mp_fw(4, 1:2), '-', 'color',[0 0.5 0], 'DisplayName', 'Forward Partial Motion Plan', 'LineWidth', 3);

for i = 1:size(mp_fw, 2) - 1
    if (mp_fw(2, i) == mp_fw(2, i + 1))
        plot(mp_fw(3, i:i + 1), mp_fw(4, i:i + 1), '-', 'color',[0 0.5 0], 'LineWidth', 3);
    else
        plot(mp_fw(3, i:i + 1), mp_fw(4, i:i + 1), '--', 'color',[0 0.5 0], 'LineWidth', 3);
    end
end


if I_bw ~= 1
    mp_bw = getmotionplan(T_bw, I_bw, edge_map_bw);
%     plot3(mp_bw(3, :), mp_bw(4, :), mp_bw(5, :), 'm-', 'DisplayName', 'Backward Partial Motion Plan', 'LineWidth', 3);
end

q2 = plot(mp_bw(3, 1:2), mp_bw(4, 1:2), 'm-', 'DisplayName', 'Backward Partial Motion Plan', 'LineWidth', 3);

for i = 1:size(mp_bw, 2) - 1
    if (mp_bw(2, i) == mp_bw(2, i + 1))
        plot(mp_bw(3, i:i + 1), mp_bw(4, i:i + 1),  'm-', 'LineWidth', 3);
    else
        plot(mp_bw(3, i:i + 1), mp_bw(4, i:i + 1),  'm--', 'LineWidth', 3);
    end
end

legend([q1, q2])
xlabel('$x_{1}$', 'Interpreter', 'latex');
ylabel('$x_{2}$', 'Interpreter', 'latex');
zlabel('$x_{3}$', 'Interpreter', 'latex');
grid on
box on
set(gca, 'FontSize', 18)


if I_bw == 1
    MP = mp_fw;
else
    MP = reverseandconcatenate(mp_fw, mp_bw, 1);
end
end