GraduationProject/rand_Goal_Start.m at master · HUOJIAXI/GraduationProject · GitHub

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function [r_Goal,r_start]=rand_Goal_Start(D,numrobot,lenob)
m=size(D,1);
n=size(D,2);
% a=floor(m/2);
% b=floor(n/2);
%rng shuffle

nobs=[];
obs=[];
for i = 1:m
    for j = 1:n
        if D(i,j) == 1
            obs=[obs j+(i-1)*n];
%             [obs_x,obs_y]=spread(obs,m);
        else
            nobs=[nobs j+(i-1)*n];
        end
    end
end

croise=[];

for i = 1:m
    for j = 1:n
       if mod(i,2) == 1
            if mod(j-1,lenob+1) == 0
                croise=[croise j+(i-1)*n];
            end
       end
    end
end

nobs=setdiff(nobs,croise);

r_start = randperm(length(nobs),numrobot);
r_Goal = randperm(length(nobs),numrobot);

for i = 1:numrobot
    r_start(i)=nobs(r_start(i));
    r_Goal(i)=nobs(r_Goal(i));
end


flag=1;
num_flag_error=0;
num_flag_total=0;


while flag==1
%    test=[r_start r_Goal];
%     len_start_ori =length(r_start);
%     len_Goal_ori  =length(r_start);
%     len_start     =length(unique(r_start));
%     len_Goal      =length(unique(r_Goal));
    test=r_start-r_Goal;
    num_flag_total=num_flag_total+1;

%     len_ori=length(test);
%     len=length(unique(test));
    if  ismember(0,test)
%        len_ori~=len || || || len_start_ori~=len_start || len_Goal_ori ~=len_Goal
        flag = 1;
        num_flag_error=num_flag_error+1;
        r_start = randperm(length(nobs),numrobot);
        r_Goal = randperm(length(nobs),numrobot);

        for i = 1:numrobot
            r_start(i)=nobs(r_start(i));
            r_Goal(i)=nobs(r_Goal(i));
        end
        continue
    end

    flag = 0;


end
%
% disp(num_flag_total);
% disp(num_flag_error);