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msm/TOOLBOX_Muscle_Geometry/MUSCLE_TOOL_dcylinder_wrap.m
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MUSCLE_TOOL_dcylinder_wrap.m
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function [PATH, Length, wflag] = MUSCLE_TOOL_dcylinder_wrap(P, S, O, R, Mobj, Np)
% UICONTROL Callback DOUBLE-CYLINDER WRAPPING ALGORITHM
%--------------------------------------------------------------------------
% Syntax :
% [PATH, Length, wflag] = MUSCLE_TOOL_dcylinder_wrap(P, S, O, R, Mobj, Np)
%--------------------------------------------------------------------------
%
% File Description :
% This function is the double-cylinder wrapping algorithm from the obstacle
% set method.
%--------------------------------------------------------------------------
% Initialise the output
PATH = [];
Length = [];
wflag = 0;
%--------------------------------------------------------------------------
%********* STEP 1 : Compute Object rotation Matrices
%--------------------------------------------------------------------------
% Get the Data
Ou = O(:,1); Ru = R(1);
Ov = O(:,2); Rv = R(2);
% Define the Objet to Absolute rotation matrices
Mu = Mobj(:,1:3);
Mv = Mobj(:,4:6);
%--------------------------------------------------------------------------
%********* STEP 2 : Run an interation loop to find intermediate points G & H
%--------------------------------------------------------------------------
% Loop Parameters
Err = 1; Tol = 1.e-7; Kiter = 1;
Uact = 0;
Vact = 0;
teta = 3*pi/4;
% Take a guess at Hv (in V-cylinder frame)
Hv = [abs(Rv)*cos(teta); abs(Rv)*sin(teta); 0];
H = Mv*Hv + Ov;
% Run a search loop
while Err > Tol && Kiter < 200
% Compute the U-cylinder wrapping
[PATHu, Lengthu] = MUSCLE_TOOL_cylinder_wrap(P, H, Ou, Ru, Mu, Np);
% Get the Value of G
G = PATHu(:,end-1);
% If wrapping occured Set Marker
if size(PATHu,2) > 2
Uact = 1;
else
Uact = 0;
end
% Compute the V-cylinder wrapping
[PATHv, Lengthv] = MUSCLE_TOOL_cylinder_wrap(G, S, Ov, Rv, Mv, Np);
% If wrapping occured Set Marker
if size(PATHv,2) > 2
Vact = 1;
else
Vact = 0;
end
% Get the new value of H & update the error
Err = norm(H - PATHv(:,2));
H = PATHv(:,2);
Kiter = Kiter + 1;
end
% Get the Intermediary points
G = PATHu(:,end-1);
H = PATHv(:,2);
%--------------------------------------------------------------------------
% STEP 3 : Compute the Final Wrapping
if Uact == 1 && Vact == 1 % Both U & V-cylinders
% Re-compute the wrappings to be sure
[PATHu, Lengthu] = MUSCLE_TOOL_cylinder_wrap(P, H, Ou, Ru, Mu, Np);
[PATHv, Lengthv] = MUSCLE_TOOL_cylinder_wrap(G, S, Ov, Rv, Mv, Np);
% Define the path
PATH = [PATHu, PATHv(:,3:end)];
% Compute the length
Length = Lengthu + Lengthv - norm(H - G);
% Set the flag
wflag = 4;
%-----------------------------------------------------
elseif Uact == 0 && Vact == 1 % Only V-cylinder
[PATHv, Lengthv] = MUSCLE_TOOL_cylinder_wrap(P, S, Ov, Rv, Mv, Np);
% Define the path
PATH = PATHv;
% Compute the length
Length = Lengthv;
% Set the flag
wflag = 3;
%-----------------------------------------------------
elseif Uact == 1 && Vact == 0 % Only U-cylinder
[PATHu, Lengthu] = MUSCLE_TOOL_cylinder_wrap(P, S, Ou, Ru, Mu, Np);
% Define the path
PATH = PATHu;
% Compute the length
Length = Lengthu;
% Set the flag
wflag = 2;
%-----------------------------------------------------
elseif Uact == 0 && Vact == 0 % Neither Cylinder
% Define the path
PATH = [P, S];
% Compute the length
Length = norm(S - P);
% Set the flag
wflag = 1;
else
end
return;
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