58 lines
1.3 KiB
Matlab
Executable File
58 lines
1.3 KiB
Matlab
Executable File
function [Ax,Ay,b,K] = convexhullConcave(x1,f1,df1,x2,f2,df2,x3,f3,df3,x4,f4,df4,x5,f5,df5)
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% x1-x4 corner points, 5 point in center
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% Lower bounds from tangents
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% z < f(x1) + (x-x1)*df(x1)
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% z < f(x2) + (x-x2)*df(x2)
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% z < f(x3) + (x-x3)*df(x3)
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% z < f(x4) + (x-x4)*df(x4)
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% z < f(x5) + (x-x5)*df(x5)
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% Possible upper bound from creating hyperplane from three points
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f = [f1 f2 f3 f4];
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X = [x1 x2 x3 x4];
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Z = [X;f];
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[n1,d1] = ceiling(Z(:,1),Z(:,2),Z(:,3));
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[n2,d2] = ceiling(Z(:,2),Z(:,3),Z(:,4));
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[n3,d3] = ceiling(Z(:,3),Z(:,4),Z(:,1));
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[n4,d4] = ceiling(Z(:,4),Z(:,3),Z(:,2));
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b = [-x1'*df1+f1;
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-x2'*df2+f2;
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-x3'*df3+f3;
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-x4'*df4+f4;
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-x5'*df5+f5];
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Ax = -[df1';df2';df3';df4';df5'];
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Ay = [1;1;1;1;1];
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% Add a floor
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% n'*z >= d
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d1 = min(n1'*Z);
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d2 = min(n2'*Z);
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d3 = min(n3'*Z);
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d4 = min(n4'*Z);
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if all(n1'*Z - d1 >= 0)
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b = [b;-d1];
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Ax = [Ax;-n1(1:2)'];
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Ay = [Ay;-n1(3)];
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end
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if all(n2'*Z - d2 >= 0)
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b = [b;-d2];
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Ax = [Ax;-n2(1:2)'];
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Ay = [Ay;-n2(3)];
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end
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if all(n3'*Z - d3 >= 0)
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b = [b;-d3];
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Ax = [Ax;-n3(1:2)'];
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Ay = [Ay;-n3(3)];
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end
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if all(n4'*Z - d4 >= 0)
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b = [b;-d4];
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Ax = [Ax;-n4(1:2)'];
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Ay = [Ay;-n4(3)];
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end
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function [n,d] = ceiling(p1,p2,p3);
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n = cross(p1 - p2, p1 - p3);
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n = n/sign(n(3));
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d = p1'*n; |