function [Pos_Vector_Indexes,Speed_Vector_Indexes]=index_computation()global VMAX Map_Data%     index_computation : Deduces from the racetrack matrix the vectors containing %                         the indexes of valid positions ans speeds.% Evaluation -------------------------------------------------------------%     Pos_Vector_Indexes = vector containing the indexes of valid positions %                          within the racetrack matrix.%     Speed_Vector_Indexes = vector containing the indexes of valid [vx vy] combinations;%--------------------------------------------------------------------------% In verbose mode, there is no difference to silent mode.%--------------------------------------------------------------------------% MDP Toolbox, INRA, BIA Toulouse, France%--------------------------------------------------------------------------[m n]=size(Map_Data);% Reshaping the Map_Data matrix into a mn position vector;Pos_Vector=reshape(Map_Data,m*n,1);% Determining the indexes of non-zero elements:Pos_Vector_Indexes=find(Pos_Vector);% Determining the allowed speed combinations:% First we compute the distance from the center:Speed_Mat=repmat(([-VMAX:VMAX].*[-VMAX:VMAX])',1,(2*VMAX+1));Speed_Mat=Speed_Mat+Speed_Mat';% Then we test which values satisfy vx**2+vY**2<=VMAX**2 Speed_Mat=(Speed_Mat<=VMAX*VMAX);% Reshaping the Speed_Mat matrix into a vector;Speed_Vector=reshape(Speed_Mat,((2*VMAX+1)*(2*VMAX+1)),1);% Determining the indexes of non-zero elements:Speed_Vector_Indexes=find(Speed_Vector);