1 %% Copyright (C) 2003-2011 David Legland <david.legland@grignon.inra.fr>
2 %% Copyright (C) 2012 Adapted to Octave by Juan Pablo Carbajal <carbajal@ifi.uzh.ch>
3 %% All rights reserved.
5 %% Redistribution and use in source and binary forms, with or without
6 %% modification, are permitted provided that the following conditions are met:
8 %% 1 Redistributions of source code must retain the above copyright notice,
9 %% this list of conditions and the following disclaimer.
10 %% 2 Redistributions in binary form must reproduce the above copyright
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30 %% @deftypefn {Function File} {@var{h} = } suppportFunction (@var{polygon})
31 %% @deftypefnx {Function File} {@var{h} = } suppportFunction (@var{polygon}, @var{n})
32 %% @deftypefnx {Function File} {@var{h} = } suppportFunction (@var{polygon}, @var{v})
33 %% Compute support function of a polygon
35 %% H = supportFunction(POLYGON, N)
36 %% uses N points for suport function approximation
38 %% H = supportFunction(POLYGON)
39 %% assume 24 points for approximation
41 %% H = supportFunction(POLYGON, V)
42 %% where V is a vector, uses vector V of angles to compute support
45 %% @seealso{convexification}
48 function h = supportFunction(polygon, varargin)
50 u = (0:2*pi/N:2*pi*(1-1/N)).';
52 if length(varargin)==1
56 u = (0:2*pi/N:2*pi*(1-1/N)).';
67 v = repmat([cos(u(i)) sin(u(i))], [size(polygon, 1), 1]);
69 h(i) = max(dot(polygon, v, 2));