Exercise 10, Problem 2

Problem 2 Generation of target poses for driving in a box.

The box has 5 points: the 4 corners and the starting point (pose) in mainloop.m file:

places = [  [0; 0; 0] [0.5; 0.5; pi] [-0.5; 0.5; -pi/2] [-0.5; -0.5; 0] [0.5; -0.5; pi/2] [0.5; 0.5; pi] ];

The sequence of the points with exception handling in mainloop.m file:

if exist('nextPose','var') == 0 %
  nextPose = 1;
elseif nextPose >= length(places(1,:))
  nextPose = 1;
else
  nextPose = nextPose + 1;
end

Constants setup in file constants.m:

simulation = true;
noOfIter = 16; %The number of simulation iterations