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tests/trajectory-planner/circular-arcs/octave/create_3d_line.m

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+function move=create_3d_line(v_range,dp,theta,prev_move,limits)
+    %% Create a random trajectory segment based on the input
+
+    if ~isstruct(prev_move)
+        %wlog assume +X as initial direction and origin as start
+        prev_move.P1=[-1,0,0];
+        prev_move.P2=[0,0,0];
+    end
+
+        move.P1=prev_move.P2;
+    
+    %Hard-coded settings for G-code dump, make this more general later if need be
+    if length(v_range)==2
+        move.v_req=ezrand(v_range(1),v_range(2));
+    else
+        move.v_req=v_range;
+    end
+
+    %dummy value
+    move.a_max=1;
+
+    move.tolerance=10;
+
+    dp_old=prev_move.P2-prev_move.P1;
+    u_old=dp_old/norm(dp_old);
+
+    if length(theta)==1
+        theta_vec=[-theta,theta,-theta,theta,-theta,theta];
+    elseif length(theta)==2
+        theta_vec=[theta,theta,theta];
+        theta_vec=theta_vec(:);
+    else
+        theta_vec=theta;
+    end
+
+    inlimits = false;
+    while ~inlimits
+        %Rotate about Z 
+        theta_z=rand(1)*(theta_vec(2)-theta_vec(1)) + theta_vec(1);
+        u_raw=u_old*[cos(theta_z),-sin(theta_z),0;sin(theta_z),cos(theta_z),0;0,0,1];
+
+        %rotate about Y
+        theta_y=rand(1)*(theta_vec(4)-theta_vec(3)) + theta_vec(3);
+        u_raw=u_raw*[cos(theta_y),0,-sin(theta_y);0,1,0;sin(theta_y),0,cos(theta_y)];
+
+        theta_x=rand(1)*(theta_vec(6)-theta_vec(5)) + theta_vec(5);
+        u_raw=u_raw*[1, 0, 0;0, cos(theta_x),sin(theta_x);0,-sin(theta_x),cos(theta_x)];
+
+        %Hack to make a minimum length move
+        if length(dp) == 1
+            move.P2=move.P1+u_raw*dp;
+        else
+            move.P2=move.P1+u_raw*(rand(1)*(dp(2)-dp(1))+dp(1));
+        end
+
+        if move.P2(1)<limits(2) && move.P2(1)>limits(1) && move.P2(2)<limits(4) && move.P2(2)>limits(3) && move.P2(3)<limits(6) && move.P2(3)>limits(5)
+            inlimits = true;
+        end
+    end
+
+end
+