trajectoryGenerationApp.m

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% =========================================================================== %
%> @brief app that helps to generate a trajectory.
%>
%> This app is mainly a graphical interface to the Trajectory class. It allows
%> to define waypoints, set the sampling frequency and the interpolation methods
%> and to generate the trajectory.
%>
%> The app can be called with no arguments:
%> @code
%> trajectoryGenerationApp;
%> @endcode
%>
%> or with a Trajectory object as argument:
%> @code
%> myTraj = Trajectory;
%> trajectoryGenerationApp(myTraj);
%> @endcode
%> in the second case, the app will be initialized with the given Trajectory
%> object. Also, every change made in the app will be reflected in the given
%> Trajectory object since is is passed by reference. If you want to keep the
%> original Trajectory object, you should pass a copy of it to the app. You can
%> do this by calling the copy method of the Trajectory object:
%> @code
%> myTraj = Trajectory;
%> myTrajCopy = myTraj.copy;
%> trajectoryGenerationApp(myTrajCopy);
%> @endcode
%>
%> @copyright see the file @ref LICENSE in the root directory of the repository
%>
%> \par Example Usage
%>
%> \image html trajectoryGenerationApp.gif
% =========================================================================== %
 
classdef trajectoryGenerationApp < matlab.apps.AppBase
    
    % Properties that correspond to app components
    properties (Access = public)
        TrajectoryAppUIFigure       matlab.ui.Figure
        gridMain                    matlab.ui.container.GridLayout
        mossFeb2024Label            matlab.ui.control.Label
        Image                       matlab.ui.control.Image
        gridTrajMenu                matlab.ui.container.GridLayout
        GridLayout                  matlab.ui.container.GridLayout
        PlayButton                  matlab.ui.control.Button
        GenerateButton              matlab.ui.control.Button
        TrajectoryGenerationLabel   matlab.ui.control.Label
        gridInterpolationMenu       matlab.ui.container.GridLayout
        SetSamplingFrequencyInputLabel  matlab.ui.control.Label
        SetSamplingFrequencyInput   matlab.ui.control.NumericEditField
        OrientationDropDown         matlab.ui.control.DropDown
        OrientationDropDownLabel    matlab.ui.control.Label
        PositionDropDown            matlab.ui.control.DropDown
        PositionDropDownLabel       matlab.ui.control.Label
        InterpolationSettingsLabel  matlab.ui.control.Label
        gridWaypointTableMenu       matlab.ui.container.GridLayout
        AutomaticallyCheckandSortCheckBox  matlab.ui.control.CheckBox
        btnPlotWaypoints            matlab.ui.control.Button
        CheckandSortButton          matlab.ui.control.Button
        WaypointTableSettingsLabel  matlab.ui.control.Label
        gridImportExportMenu        matlab.ui.container.GridLayout
        NewButton                   matlab.ui.control.Button
        ExportButton                matlab.ui.control.Button
        ImportButton                matlab.ui.control.Button
        ImportandExportLabel        matlab.ui.control.Label
        lblTrajGen                  matlab.ui.control.Label
        lblTrajDefinition           matlab.ui.control.Label
        gridTable                   matlab.ui.container.GridLayout
        lblOrientationHelper        matlab.ui.control.Label
        gridTabLbls                 matlab.ui.container.GridLayout
        lblTabOrientation           matlab.ui.control.Label
        lblTabPosition              matlab.ui.control.Label
        lblTabTimeInfo              matlab.ui.control.Label
        tabPoints                   matlab.ui.control.Table
    end
    
    
    properties (Access = private)
        
        appTrajectory = Trajectory; % Description
    end
    
    properties (Access = public)
        appReturnValue % Return Value from a SubApp
    end
    
    methods (Access = private)
        
        function tabPointsAddRow(app)
            
            if height(app.tabPoints.Data) > 0
                thisTStart = duration(app.tabPoints.Data.t_start(end),"InputFormat","mm:ss.SSS") + seconds(1);
                thisTStart = string(thisTStart,"mm:ss.SSS");
            else
                thisTStart = "00:00.000";
            end
            
            app.tabPoints.Data = [app.tabPoints.Data; {thisTStart,string(seconds(0),"mm:ss.SSS"),0,0,0,1,0,0,0}];
        end
        
        function tabPointsEditCell(app, row, col)
            
            inputSize = [1,45];
            cellData = app.tabPoints.Data{row,col};
            
            switch col
                case 1 % start time
                    prompt = "Enter a new Start Time (mm:ss.SSS)";
                    title  = "Starttime";
                    
                    val = inputdlg(prompt,title,inputSize,string(cellData));
                    
                    if isempty(val)
                        return
                    end
                    
                    try
                        val = duration(val{1,1},"Format","mm:ss.SSS");
                    catch
                        errordlg("Wrong Format");
                        return
                    end
                    
                case 2 % duration
                    prompt = "Enter a new Durartion (mm:ss.SSS)";
                    title  = "Duration";
                    
                    val = inputdlg(prompt,title,inputSize,string(cellData));
                    
                    if isempty(val)
                        return
                    end
                    
                    try
                        val = duration(val{1,1},"Format","mm:ss.SSS");
                    catch
                        errordlg("Wrong Format");
                        return
                    end
                    
                case 3 % position
                    prompt = ["X [m]","Y [m]","Z [m]"];
                    title  = "Position";
                    
                    val = inputdlg(prompt,title,inputSize,string(cellData));
                    
                    if isempty(val)
                        return
                    end
                    
                    try
                        val = str2double(val);
                        assert(numel(val)==3);
                        assert(any(isnan(val))==false);
                        val = reshape(val,[1,3]);
                    catch
                        errordlg("Wrong Format");
                        return
                    end
                    
                    
                case 4 % orientation
                    ui = getOrientationApp(app,cellData);
                    uiwait(ui.UIFigure);
                    val = app.appReturnValue;
            end
            
            
            app.tabPoints.Data{row,col} = val;
            
        end
        
        function app = tabPointsUpdate(app)
            % convert to Trajectory Instance
            app.uiTableToTraj;
            
            % clean the table
            if app.AutomaticallyCheckandSortCheckBox.Value
                try
                    app.appTrajectory.cleanTab;
                catch err
                    e = errordlg(err.message);
                    uiwait(e)
                end
            end
            
            % convert from Trajectory Instance
            app.trajToUiTable;
        end
        
        
        function trajToUiTable(app)
            app.tabPoints.Data = app.appTrajectory.reduce;
        end
        
        function uiTableToTraj(app)
            app.appTrajectory.importTab(app.tabPoints.Data);
        end
    end
    
    
    % Callbacks that handle component events
    methods (Access = private)
        
        % Code that executes after component creation
        function startupFcn(app, traj)
            arguments
                app
                traj (1,1) {mustBeA(traj,"Trajectory")} = Trajectory;
            end
            
            % setup table
            app.appTrajectory = traj;
            app.trajToUiTable;
 
            % setup sampling frequency
            app.SetSamplingFrequencyInput.Value = app.appTrajectory.getSamplingFrequency;
            app.SetSamplingFrequencyInput.ValueChangedFcn = createCallbackFcn(app, @SamplingFrequencyChanged, false);
            
            % setup interpolation methods
            methods = app.appTrajectory.getInterpMethods;
            app.PositionDropDown.Items = methods.pos;
            app.PositionDropDown.Value = methods.posCurrent;
            app.OrientationDropDown.Items = methods.ori;
            app.OrientationDropDown.Value = methods.oriCurrent;
            
            % setup import button
            app.ImportButton.ButtonPushedFcn = createCallbackFcn(app, @ImportButtonPushed, false);
 
            % setup export button
            app.ExportButton.ButtonPushedFcn = createCallbackFcn(app, @ExportButtonPushed, false);
 
            % setup new button
            app.NewButton.ButtonPushedFcn = createCallbackFcn(app, @NewButtonPushed, false);
 
            % setup check and sort button
            app.CheckandSortButton.ButtonPushedFcn = createCallbackFcn(app, @tabPointsCheckandSort, false);
 
            % setup plot waypoints button
            app.btnPlotWaypoints.ButtonPushedFcn = createCallbackFcn(app, @btnPlotWaypointsPushed, false);
            
            % setup generate button
            app.GenerateButton.ButtonPushedFcn = createCallbackFcn(app, @GenerateButtonPushed, false);
            
            % setup play button
            app.PlayButton.ButtonPushedFcn = createCallbackFcn(app, @PlayButtonPushed, false);
            
        end
        
        % Double-clicked callback: tabPoints
        function tabPointsDoubleClicked(app, event)
            
            if isempty(event.InteractionInformation.Row) && isempty(event.InteractionInformation.Column)
                app.tabPointsAddRow();
            end
            
        end
        
        % Key release function: tabPoints
        function tabPointsKeyRelease(app, event)
            key = event.Key;
            selection = event.Source.Selection;
            
            switch key
                case 'delete' %delete row
                    answer = questdlg("Delete all the Row(s) in the selection?","Delete?","Yes","Cancel","Cancel");
                    if strcmp(answer,"Yes")
                        rows = selection(:,1);
                        event.Source.Data(rows,:) = [];
                        if height(event.Source.Data) == 0
                            app.tabPointsAddRow;
                        end
                    end
                    
                case 'q' %open orientation helper app
                    try
                        row = selection(:,1);
                        assert(numel(row) == 1); %make sure only one row is selected
                        
                        % open app and wait for it
                        orientApp = getOrientationApp(app,app.tabPoints.Data{row,6:9});
                        uiwait(orientApp.OrientationAppUIFigure);
                        
                        % insert the new value
                        app.tabPoints.Data{row,6:9} = app.appReturnValue;
                    catch
                        e = errordlg("Select only one Row!");
                        uiwait(e);
                    end
                    
                    
            end
        end
        
        % Cell edit callback: tabPoints
        function tabPointsCellEdit(app, event)
            indices = event.Indices;
            newData = event.NewData;
            
            try
                switch indices(2)
                    case {1,2} %start time, duration
                        if contains(newData,':')
                            newTime = duration(newData,"Format","mm:ss.SSS");
                        else
                            newTime = seconds(str2double(newData));
                        end
                        assert(~isnan(newTime));
                        assert(~ismissing(newTime));
                        newData = string(newTime,"mm:ss.SSS");
                        
                    case {3,4,5} % x,y,z
                        assert(~isnan(newData))
                        
                    case {6,7,8,9}
                        
                        if event.EditData == 'q' % special case where the app is called
                            app.tabPoints.Data{indices(1),indices(2)} = event.PreviousData;
                            return;
                        end
                        
                        assert(~isnan(newData))
                        
                        % generate new valid quaternion
                        newQuat = quaternion(app.tabPoints.Data{indices(1),6:9});
                        app.tabPoints.Data{indices(1),6:9} = newQuat.compact;
                        
                end
                app.tabPoints.Data{indices(1),indices(2)} = newData;
            catch
                e = errordlg("Wrong Input Format","Error","modal");
                uiwait(e);
                app.tabPoints.Data{indices(1),indices(2)} = event.PreviousData;
            end
            
            app.tabPointsUpdate;
            
        end
        
        % Key press function: tabPoints
        function tabPointsKeyPress(app, event)
            key = event.Key;
            
            tabSize = size(app.tabPoints.Data);
            selection = event.Source.Selection;
            
            switch key
                case 'tab' % next cell
                    try
                        if numel(selection) == 2 %only one cell selected
                            if selection(2) < tabSize(2)
                                %if possible, one cell to the right
                                event.Source.Selection(2) = selection(2) + 1;
                            else
                                %first cell of next row
                                event.Source.Selection(1) = selection(1) + 1;
                                event.Source.Selection(2) = 1;
                            end
                        end
                    catch
                        app.tabPointsAddRow;
                        %first cell of new row
                        event.Source.Selection(1) = selection(1) + 1;
                        event.Source.Selection(2) = 1;
                    end
            end
            
        end
 
        % Value changed function: SamplingFrequencyInput
        function SamplingFrequencyChanged(app)
            app.appTrajectory.setSamplingFrequency(app.SetSamplingFrequencyInput.Value);
        end
        
        % Value changed function: OrientationDropDown, PositionDropDown
        function InterpolationDropDownValueChanged(app)
            methods.pos = app.PositionDropDown.Value;
            methods.ori = app.OrientationDropDown.Value;
            app.appTrajectory.setInterpMethods(methods);
            
        end
 
        % Button pushed function: ImportButton
        function ImportButtonPushed(app)
            [file,path] = uigetfile('*.mat');
            if file == 0
                return
            end
            
            try
                traj = load(fullfile(path,file));
                assert(isfield(traj,"traj"));
                assert(isa(traj.traj,"Trajectory"));
                app.appTrajectory = traj.traj;
                app.trajToUiTable;
            catch
                e = errordlg("File is not a valid Trajectory Object","Error","modal");
                uiwait(e);
            end
        end
 
        % Button pushed function: ExportButton
        function ExportButtonPushed(app)
            [file,path] = uiputfile('*.mat');
            if file == 0
                return
            end
 
            traj = app.appTrajectory;
            
            try
                save(fullfile(path,file),"traj","-v7.3");
            catch
                e = errordlg("Error while saving the Trajectory Object","Error","modal");
                uiwait(e);
            end
        end
 
        % Button pushed function: NewButton
        function NewButtonPushed(app)
            app.appTrajectory = Trajectory;
            app.trajToUiTable;
        end
 
        % Button pushed function: CheckandSortButton
        function tabPointsCheckandSort(app)
            app.uiTableToTraj;
            app.appTrajectory.cleanTab;
            app.trajToUiTable;
        end
 
        % Button pushed function: btnPlotWaypoints
        function btnPlotWaypointsPushed(app)
            app.tabPointsCheckandSort;
            fig = figure("Name","Waypoints","NumberTitle","off");
            ax = axes(fig);
            app.appTrajectory.plotWaypoints(ax);
            uiwait(fig);
        end
 
        % Button pushed function: GenerateButton
        function GenerateButtonPushed(app)
            app.GenerateButton.Enable = false;
 
 
            try
                assert(height(app.tabPoints.Data) > 0);
            catch
                e = errordlg("No Waypoints defined","Error","modal");
                uiwait(e);
                app.GenerateButton.Enable = true;
                return
            end
 
            app.uiTableToTraj;
            app.appTrajectory.generateTrajectory;
            app.trajToUiTable;
 
            m = msgbox("Trajectory generated","Success","modal");
            uiwait(m);
 
            app.GenerateButton.Enable = true;
        end
 
        % Button pushed function: PlayButton
        function PlayButtonPushed(app)
            app.PlayButton.Enable = false;
 
            try
                assert(app.appTrajectory.getIsGenerated);
            catch
                e = errordlg("Trajectory not generated","Error","modal");
                uiwait(e);
                app.PlayButton.Enable = true;
                return
            end
 
            trajPlayer = trajectoryVisualizationApp(app.appTrajectory);
 
            uiwait(trajPlayer.TrajectoryVisualizationUIFigure);
 
            app.PlayButton.Enable = true;
        end
    end
    
    % Component initialization
    methods (Access = private)
        
        % Create UIFigure and components
        function createComponents(app)
            
            % Create TrajectoryAppUIFigure and hide until all components are created
            app.TrajectoryAppUIFigure = uifigure('Visible', 'off');
            app.TrajectoryAppUIFigure.Position = [100 100 900 650];
            app.TrajectoryAppUIFigure.Name = 'Trajectory App';
            app.TrajectoryAppUIFigure.Icon = 'logo_zhaw.png';
            
            % Create gridMain
            app.gridMain = uigridlayout(app.TrajectoryAppUIFigure);
            app.gridMain.ColumnWidth = {550, '1x'};
            app.gridMain.RowHeight = {'2x', 'fit', '1x', 60};
            app.gridMain.Padding = [25 25 25 25];
            
            % Create gridTable
            app.gridTable = uigridlayout(app.gridMain);
            app.gridTable.ColumnWidth = {'fit'};
            app.gridTable.RowHeight = {'fit', 300, 'fit'};
            app.gridTable.Padding = [0 0 0 0];
            app.gridTable.Layout.Row = 2;
            app.gridTable.Layout.Column = 1;
            
            % Create tabPoints
            app.tabPoints = uitable(app.gridTable);
            app.tabPoints.ColumnName = {'t start'; 'duration'; 'x'; 'y'; 'z'; '1'; 'i'; 'j'; 'k'};
            app.tabPoints.ColumnWidth = {70, 80, 50, 50, 50, 50, 50, 50, 50};
            app.tabPoints.RowName = {};
            app.tabPoints.ColumnSortable = [true false false false false false false false false];
            app.tabPoints.ColumnEditable = true;
            app.tabPoints.CellEditCallback = createCallbackFcn(app, @tabPointsCellEdit, true);
            app.tabPoints.DoubleClickedFcn = createCallbackFcn(app, @tabPointsDoubleClicked, true);
            app.tabPoints.KeyPressFcn = createCallbackFcn(app, @tabPointsKeyPress, true);
            app.tabPoints.KeyReleaseFcn = createCallbackFcn(app, @tabPointsKeyRelease, true);
            app.tabPoints.Layout.Row = 2;
            app.tabPoints.Layout.Column = 1;
            
            % Create gridTabLbls
            app.gridTabLbls = uigridlayout(app.gridTable);
            app.gridTabLbls.ColumnWidth = {150, 150, 200};
            app.gridTabLbls.RowHeight = {'1x'};
            app.gridTabLbls.ColumnSpacing = 0;
            app.gridTabLbls.RowSpacing = 0;
            app.gridTabLbls.Padding = [0 0 0 0];
            app.gridTabLbls.Layout.Row = 1;
            app.gridTabLbls.Layout.Column = 1;
            
            % Create lblTabTimeInfo
            app.lblTabTimeInfo = uilabel(app.gridTabLbls);
            app.lblTabTimeInfo.HorizontalAlignment = 'center';
            app.lblTabTimeInfo.VerticalAlignment = 'bottom';
            app.lblTabTimeInfo.FontWeight = 'bold';
            app.lblTabTimeInfo.Layout.Row = 1;
            app.lblTabTimeInfo.Layout.Column = 1;
            app.lblTabTimeInfo.Text = 'Time Info [mm:ss.SSS]';
            
            % Create lblTabPosition
            app.lblTabPosition = uilabel(app.gridTabLbls);
            app.lblTabPosition.HorizontalAlignment = 'center';
            app.lblTabPosition.VerticalAlignment = 'bottom';
            app.lblTabPosition.FontWeight = 'bold';
            app.lblTabPosition.Layout.Row = 1;
            app.lblTabPosition.Layout.Column = 2;
            app.lblTabPosition.Text = 'Position [m]';
            
            % Create lblTabOrientation
            app.lblTabOrientation = uilabel(app.gridTabLbls);
            app.lblTabOrientation.HorizontalAlignment = 'center';
            app.lblTabOrientation.VerticalAlignment = 'bottom';
            app.lblTabOrientation.FontWeight = 'bold';
            app.lblTabOrientation.Layout.Row = 1;
            app.lblTabOrientation.Layout.Column = 3;
            app.lblTabOrientation.Text = 'Orientation';
            
            % Create lblOrientationHelper
            app.lblOrientationHelper = uilabel(app.gridTable);
            app.lblOrientationHelper.HorizontalAlignment = 'center';
            app.lblOrientationHelper.Layout.Row = 3;
            app.lblOrientationHelper.Layout.Column = 1;
            app.lblOrientationHelper.Text = 'select an orientation value and press ''q'' to open the Orientation Helper App.';
            
            % Create lblTrajDefinition
            app.lblTrajDefinition = uilabel(app.gridMain);
            app.lblTrajDefinition.VerticalAlignment = 'bottom';
            app.lblTrajDefinition.FontSize = 24;
            app.lblTrajDefinition.FontWeight = 'bold';
            app.lblTrajDefinition.Layout.Row = 1;
            app.lblTrajDefinition.Layout.Column = 1;
            app.lblTrajDefinition.Text = 'Trajectory Definition';
            
            % Create lblTrajGen
            app.lblTrajGen = uilabel(app.gridMain);
            app.lblTrajGen.VerticalAlignment = 'bottom';
            app.lblTrajGen.FontSize = 24;
            app.lblTrajGen.FontWeight = 'bold';
            app.lblTrajGen.Layout.Row = 1;
            app.lblTrajGen.Layout.Column = 2;
            app.lblTrajGen.Text = 'Trajectory Generation';
            
            % Create gridTrajMenu
            app.gridTrajMenu = uigridlayout(app.gridMain);
            app.gridTrajMenu.ColumnWidth = {'1x'};
            app.gridTrajMenu.RowHeight = {30, 'fit', 30, 'fit', 30, 'fit', 30, 'fit'};
            app.gridTrajMenu.Padding = [0 0 0 0];
            app.gridTrajMenu.Layout.Row = 2;
            app.gridTrajMenu.Layout.Column = 2;
            
            % Create ImportandExportLabel
            app.ImportandExportLabel = uilabel(app.gridTrajMenu);
            app.ImportandExportLabel.VerticalAlignment = 'bottom';
            app.ImportandExportLabel.FontSize = 14;
            app.ImportandExportLabel.FontWeight = 'bold';
            app.ImportandExportLabel.Layout.Row = 1;
            app.ImportandExportLabel.Layout.Column = 1;
            app.ImportandExportLabel.Text = 'Import and Export';
            
            % Create gridImportExportMenu
            app.gridImportExportMenu = uigridlayout(app.gridTrajMenu);
            app.gridImportExportMenu.ColumnWidth = {'fit', 'fit', 'fit'};
            app.gridImportExportMenu.RowHeight = {'fit'};
            app.gridImportExportMenu.Padding = [0 0 0 0];
            app.gridImportExportMenu.Layout.Row = 2;
            app.gridImportExportMenu.Layout.Column = 1;
            
            % Create ImportButton
            app.ImportButton = uibutton(app.gridImportExportMenu, 'push');
            app.ImportButton.Tooltip = {'Import a Trajectory object saved as a .mat file or similar.'};
            app.ImportButton.Layout.Row = 1;
            app.ImportButton.Layout.Column = 1;
            app.ImportButton.Text = 'Import';
            
            % Create ExportButton
            app.ExportButton = uibutton(app.gridImportExportMenu, 'push');
            app.ExportButton.Tooltip = {'Export the Trajectory object saved as a .mat file or similar.'};
            app.ExportButton.Layout.Row = 1;
            app.ExportButton.Layout.Column = 2;
            app.ExportButton.Text = 'Export';
            
            % Create NewButton
            app.NewButton = uibutton(app.gridImportExportMenu, 'push');
            app.NewButton.Tooltip = {'Empty the Workspace'};
            app.NewButton.Layout.Row = 1;
            app.NewButton.Layout.Column = 3;
            app.NewButton.Text = 'New';
            
            % Create WaypointTableSettingsLabel
            app.WaypointTableSettingsLabel = uilabel(app.gridTrajMenu);
            app.WaypointTableSettingsLabel.VerticalAlignment = 'bottom';
            app.WaypointTableSettingsLabel.FontSize = 14;
            app.WaypointTableSettingsLabel.FontWeight = 'bold';
            app.WaypointTableSettingsLabel.Layout.Row = 3;
            app.WaypointTableSettingsLabel.Layout.Column = 1;
            app.WaypointTableSettingsLabel.Text = 'Waypoint Table Settings';
            
            % Create gridWaypointTableMenu
            app.gridWaypointTableMenu = uigridlayout(app.gridTrajMenu);
            app.gridWaypointTableMenu.ColumnWidth = {'fit', 'fit'};
            app.gridWaypointTableMenu.RowHeight = {'fit','fit'};
            app.gridWaypointTableMenu.Padding = [0 0 0 0];
            app.gridWaypointTableMenu.Layout.Row = 4;
            app.gridWaypointTableMenu.Layout.Column = 1;
            
            % Create CheckandSortButton
            app.CheckandSortButton = uibutton(app.gridWaypointTableMenu, 'push');
            app.CheckandSortButton.Tooltip = {'Sorts the Waypoints Table, sorts it, removes double start times and reduces the duration if there''s time overlapping'};
            app.CheckandSortButton.Layout.Row = 1;
            app.CheckandSortButton.Layout.Column = 1;
            app.CheckandSortButton.Text = 'Check and Sort';
            
            % Create AutomaticallyCheckandSortCheckBox
            app.AutomaticallyCheckandSortCheckBox = uicheckbox(app.gridWaypointTableMenu);
            app.AutomaticallyCheckandSortCheckBox.Text = 'Automatically Check and Sort';
            app.AutomaticallyCheckandSortCheckBox.Layout.Row = 1;
            app.AutomaticallyCheckandSortCheckBox.Layout.Column = 2;
            app.AutomaticallyCheckandSortCheckBox.Value = true;
 
            % Create btnPlotWaypoints
            app.btnPlotWaypoints = uibutton(app.gridWaypointTableMenu, 'push');
            app.btnPlotWaypoints.Tooltip = {'Plots the Waypoints in a 3D Plot'};
            app.btnPlotWaypoints.Layout.Row = 2;
            app.btnPlotWaypoints.Layout.Column = 1;
            app.btnPlotWaypoints.Text = 'Plot Waypoints';
                        
            % Create InterpolationSettingsLabel
            app.InterpolationSettingsLabel = uilabel(app.gridTrajMenu);
            app.InterpolationSettingsLabel.VerticalAlignment = 'bottom';
            app.InterpolationSettingsLabel.FontSize = 14;
            app.InterpolationSettingsLabel.FontWeight = 'bold';
            app.InterpolationSettingsLabel.Layout.Row = 5;
            app.InterpolationSettingsLabel.Layout.Column = 1;
            app.InterpolationSettingsLabel.Text = 'Interpolation Settings';
            
            % Create gridInterpolationMenu
            app.gridInterpolationMenu = uigridlayout(app.gridTrajMenu);
            app.gridInterpolationMenu.ColumnWidth = {'fit', 'fit'};
            app.gridInterpolationMenu.RowHeight = {'fit', 'fit','fit'};
            app.gridInterpolationMenu.Padding = [0 0 0 0];
            app.gridInterpolationMenu.Layout.Row = 6;
            app.gridInterpolationMenu.Layout.Column = 1;
 
            % Create SetSamplingFrequencyInputLabel
            app.SetSamplingFrequencyInputLabel = uilabel(app.gridInterpolationMenu);
            app.SetSamplingFrequencyInputLabel.HorizontalAlignment = 'right';
            app.SetSamplingFrequencyInputLabel.Layout.Row = 1;
            app.SetSamplingFrequencyInputLabel.Layout.Column = 1;
            app.SetSamplingFrequencyInputLabel.Text = 'fs [Hz]';
 
            % Create SetSamplingFrequencyInput
            app.SetSamplingFrequencyInput = uieditfield(app.gridInterpolationMenu, 'numeric');
            app.SetSamplingFrequencyInput.Limits = [0 Inf];
            app.SetSamplingFrequencyInput.Value = 200;
            app.SetSamplingFrequencyInput.Layout.Row = 1;
            app.SetSamplingFrequencyInput.Layout.Column = 2;
            
            % Create PositionDropDownLabel
            app.PositionDropDownLabel = uilabel(app.gridInterpolationMenu);
            app.PositionDropDownLabel.HorizontalAlignment = 'right';
            app.PositionDropDownLabel.Layout.Row = 2;
            app.PositionDropDownLabel.Layout.Column = 1;
            app.PositionDropDownLabel.Text = 'Position';
            
            % Create PositionDropDown
            app.PositionDropDown = uidropdown(app.gridInterpolationMenu);
            app.PositionDropDown.Items = {'none'};
            app.PositionDropDown.ValueChangedFcn = createCallbackFcn(app, @InterpolationDropDownValueChanged, false);
            app.PositionDropDown.Layout.Row = 2;
            app.PositionDropDown.Layout.Column = 2;
            app.PositionDropDown.Value = 'none';
            
            % Create OrientationDropDownLabel
            app.OrientationDropDownLabel = uilabel(app.gridInterpolationMenu);
            app.OrientationDropDownLabel.HorizontalAlignment = 'right';
            app.OrientationDropDownLabel.Layout.Row = 3;
            app.OrientationDropDownLabel.Layout.Column = 1;
            app.OrientationDropDownLabel.Text = 'Orientation';
            
            % Create OrientationDropDown
            app.OrientationDropDown = uidropdown(app.gridInterpolationMenu);
            app.OrientationDropDown.Items = {'none'};
            app.OrientationDropDown.ValueChangedFcn = createCallbackFcn(app, @InterpolationDropDownValueChanged, false);
            app.OrientationDropDown.Layout.Row = 3;
            app.OrientationDropDown.Layout.Column = 2;
            app.OrientationDropDown.Value = 'none';
            
            % Create TrajectoryGenerationLabel
            app.TrajectoryGenerationLabel = uilabel(app.gridTrajMenu);
            app.TrajectoryGenerationLabel.VerticalAlignment = 'bottom';
            app.TrajectoryGenerationLabel.FontSize = 14;
            app.TrajectoryGenerationLabel.FontWeight = 'bold';
            app.TrajectoryGenerationLabel.Layout.Row = 7;
            app.TrajectoryGenerationLabel.Layout.Column = 1;
            app.TrajectoryGenerationLabel.Text = 'Trajectory Generation';
            
            % Create GridLayout
            app.GridLayout = uigridlayout(app.gridTrajMenu);
            app.GridLayout.ColumnWidth = {'fit', 'fit'};
            app.GridLayout.RowHeight = {'fit'};
            app.GridLayout.Padding = [0 0 0 0];
            app.GridLayout.Layout.Row = 8;
            app.GridLayout.Layout.Column = 1;
            
            % Create GenerateButton
            app.GenerateButton = uibutton(app.GridLayout, 'push');
            app.GenerateButton.Layout.Row = 1;
            app.GenerateButton.Layout.Column = 1;
            app.GenerateButton.Text = 'Generate';
            
            % Create PlayButton
            app.PlayButton = uibutton(app.GridLayout, 'push');
            app.PlayButton.Layout.Row = 1;
            app.PlayButton.Layout.Column = 2;
            app.PlayButton.Text = 'Play';
            
            % Create Image
            app.Image = uiimage(app.gridMain);
            app.Image.Layout.Row = 4;
            app.Image.Layout.Column = 1;
            app.Image.HorizontalAlignment = 'left';
            app.Image.ImageSource = 'logo_isc.png';
            
            % Create mossFeb2024Label
            app.mossFeb2024Label = uilabel(app.gridMain);
            app.mossFeb2024Label.HorizontalAlignment = 'right';
            app.mossFeb2024Label.VerticalAlignment = 'bottom';
            app.mossFeb2024Label.FontColor = [0.502 0.502 0.502];
            app.mossFeb2024Label.Layout.Row = 4;
            app.mossFeb2024Label.Layout.Column = 2;
            app.mossFeb2024Label.Text = 'moss, Feb 2024';
            
            % Show the figure after all components are created
            app.TrajectoryAppUIFigure.Visible = 'on';
        end
    end
    
    % App creation and deletion
    methods (Access = public)
        
        % Construct app
        function app = trajectoryGenerationApp(varargin)
            
            % Create UIFigure and components
            createComponents(app)
            
            % Register the app with App Designer
            registerApp(app, app.TrajectoryAppUIFigure)
            
            % Execute the startup function
            runStartupFcn(app, @(app)startupFcn(app, varargin{:}))
            
            if nargout == 0
                clear app
            end
        end
        
        % Code that executes before app deletion
        function delete(app)
            
            % Delete UIFigure when app is deleted
            delete(app.TrajectoryAppUIFigure)
        end
    end
end