Add arbitrary number of obstacles #3
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…mber of obstacles and export them to csv file, [FIX] inconsistencies in frame of reference and make standar the convention [x y length width]
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[x] Create an arbitrary number of obstacles
[x] Export obstacle data
In the obstacle environment the number of obstacles was set to 10, this pull request allows for creating an arbitrary number of obstacles. The mask of the block was changed so instead of receiving the coordinates of every element it receives a matrix [nx4] of rectangles with coordinates [x,y,length,width]. The UIinteface for setting up the obstacles was updated accordingly and now also exports these data to a csv file.
To allow for an arbitrary number of obstacles, new blocks are automatically created and updated with the corresponding properties, and organized in a grid pattern. A erase functionality is added to always start with a clean slate.
Revisions were made to ensure that the obstacles in simscape corresponded to binary occupancy grid of the robot’s sensor
Finally some inconsistencies with remarks to the order of length and width were founded the convention [x y length width] was followed and was applied when the opposite [x y width length] was founded.