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Matlab Code/generateObstacles.m

+function [x_pts, y_pts] = generateObstacles(env, threshold, dx, init_conf, final_conf, safe_radius)
+
+xdim = env(2) - env(1);
+ydim = env(4) - env(3);
+
+im = zeros(xdim/dx, ydim/dx); 
+im = perlin_noise(im);
+obs_points = im;
+
+obs_points = obs_points + abs(min(min(obs_points))); % make it positive
+obs_points = obs_points/max(max(obs_points)); % make it normal
+obs_points = smoothdata(obs_points,1,'movmean',10);
+obs_points = smoothdata(obs_points,2,'movmean',10);
+
+[x_pts, y_pts] = find(obs_points <= threshold);
+x_pts = x_pts.*dx;
+y_pts = y_pts.*dx;
+
+% iterate through to get rid of points interferring with starting and
+% ending points
+% but do it for all points in initial and final configurations
+
+for i=1:size(init_conf,1)
+    init_d = sqrt((init_conf(i,1) - x_pts).^2 + (init_conf(i,2) - y_pts).^2);
+    x_pts = x_pts(init_d >= safe_radius);
+    y_pts = y_pts(init_d >= safe_radius);
+end
+for i=1:size(final_conf,1)
+    final_d = sqrt((final_conf(i,1) - x_pts).^2 + (final_conf(i,2) - y_pts).^2);
+    x_pts = x_pts(final_d >= safe_radius);
+    y_pts = y_pts(final_d >= safe_radius);
+end
+
+end
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