function??[numbarrierquadrantBarrier]?=?Barrier（?xyconfine）
%構建障礙物區域
%輸入參數
%?x----x軸坐標
%?y----y軸坐標
%?confine----地圖邊界
%?輸出參數
%?orderBarrier----返回改點在第幾象限
%?numbarrier----該象限第幾個障礙物若numbarrier?==?32代表到達地圖邊界若numbarrier==0代表不在障礙物區域numbarrier?=?16代表坐標軸
%%

quadrant?=?0;
numbarrier?=?0;
quadrantBarrier?=?0;
%判斷點在哪一個象限
if?x?>=?0?&&?y?>=?0
????quadrant?=?1;
elseif?x??0
????quadrant?=?2;
elseif?x?????quadrant?=?3;
else
????quadrant?=?4;
end

switch?（quadrant）
????case?1
????????quadrantBarrier?=?1;?%第一象限
????????if?x?<=?0||y?<=?0
????????????numbarrier?=?16;
????????end
????????if?x?>=?confine?||?y?>=?confine
?????????????numbarrier?=?32;?
????????end
????????if?x-2-y?<=?0?&&?0.5-y?<=?0?&&?-x+2-y?<=?0?&&?y-x-1?<=?0?&&?y-2.5?<=?0?&&?y+x-5?<=?0%第一象限障礙物區
????????????numbarrier?=?1;%返回1表示在障礙物區域
????????end

????case?2
????????quadrantBarrier?=?2;?%第二象限
????????if?x?>=?0||y?<=?0
????????????numbarrier?=?16;
????????end
????????if?x?<=?-confine?||?y?>=?confine
?????????????numbarrier?=?32;?
????????end
%%
%?對于組合圖形?1?的描述
????????if?x+2.5-y?<=?0?&&?-x-1.5-y?<=?0?&&?y-x/3-13/6?<=?0
????????????numbarrier?=?1;
????????end
%?????????if?y+x+1.5?<=?0?&&?x+4.5-y?<=?0?&&?y-2*x-8.5?<=?0
%??????????????numbarrier?=?1;
%?????????end
????????if?-x-1.5-y?<=?0?&&?y-2*x-8.5?<=?0?&&?y+x+0.5?<=?0?&&?x/3+13/6-y?<=?0
?????????????numbarrier?=?1;
????????end
%
????case?3
????????quadrantBarrier?=?3;?%第三象限
????????if?x?>=?0||y?>=?0
????????????numbarrier?=?16;
????????end
????????if?x?<=?-confine?||?y?<=?-confine
?????????????numbarrier?=?32;?
????????end
%%
%?對于組合圖形?1?的描述????????
????????if?x+1?<=?0?&&?-3.5-x?<=?0?&&?y+1?<=?0?&&?-1.5-y?<=?0
????????????numbarrier?=?1;
????????end
????????if?x+1.5?<=?0?&&?-3.5-x?<=?0?&&?y+1.5?<=?0?&&?-2-y?<=?0
????????????numbarrier?=?1;
????????end
????????if?x+1.5?<=?0?&&?-2.5-x?<=?0?&&?y+2?<=?0?&&?-2.5-y?<=?0?
?????????????numbarrier?=?1;
????????end
%
????case?4
????????quadrantBarrier?=?4;?%第四象限
????????if?x?<=?0||y?>=?0
????????????numbarrier?=?16;
????????end
????????if?x?>=?confine?||?y?<=?-confine
?????????????numbarrier?=?32;?
????????end
????????if?1.5*x-5-y?<=?0?&&?-x-y?<=0?&&?y+0.5?<=0
????????????numbarrier?=?1;
????????end
end

end

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件????????2432??2018-05-28?09:07??Barrier.m
?????文件????????4043??2018-06-04?09:43??drawMap.m
?????文件????????3194??2018-05-25?09:44??EvaSafe.m
?????文件???????12276??2018-06-12?10:45??searchBarrier.m