Minkowski addition for union of polyhedra
U + W
U.plus(W)
U |
Union of polyhedra in the same dimension. Class: PolyUnion |
W |
Polyhedron to be summed with the union that is in the same dimension as the union. Class: Polyhedron |
P(1) = Polyhedron('V',[1 0; 0 0],'R',[0 -1;0.3 -1;-0.3 -1]);
P(2) = Polyhedron('V',[1 0; 0 0; 0 1; 1 1]);
U = PolyUnion('Set',P,'overlaps',false,'bounded',false)
PolyUnion in the dimension 2 with 2 polyhedra. Properties of the union: Overlaps: 0 Bounded: 0 Functions : noneCompute Minkowski addition for full-dimensional and bounded polyhedron
W = Polyhedron('lb',[-0.1, -0.2],'ub',[0.1, 0.2]);
Uw = U + W
PolyUnion in the dimension 2 with 3 polyhedra. Properties of the union: Overlaps: 0 Bounded: 0 Functions : nonePlot the new union Uw
U.plot('color','lightblue'), hold on, Uw.plot
S = Polyhedron('lb',[0, -0.2],'ub',[0, 0.2]);
Us = U + S
PolyUnion in the dimension 2 with 3 polyhedra. Properties of the union: Overlaps: 0 Bounded: 0 Functions : nonePlot the new union Us
U.plot('color','lightgreen'), hold on, Us.plot
◀ | isoverlapping | merge | ▶ |
© 2010-2013 Martin Herceg: ETH Zurich, herceg@control.ee.ethz.ch