Functions
vykresleni primek	figure (3)
	plot (edges(1,:), edges(2,:), 'r')
grid	title ('lin2spline')
	xlabel ('x')
	ylabel ('y')
	if (absVect0 > absVect1) vect0
	if (vect0(2)< 0) angle0
vypocet	polynomu (to uz dela plotspline, ale ja nevim, jak to z toho dostat po dobehu fminsearch) p
	cos (angle1/180 pi) sin(angle1/180 pi)
for	plot (polyval(px, t), polyval(py, t), '.b')
end	figure (4) title('Curvature')
	xlabel ('t')
	plot (t, kappa, '+m')
Variables
complete trajectory algorithm aproximace rohu splinem	radu
complete trajectory algorithm aproximace rohu splinem spline zacina v pulce kratsiho ze dvou navazujicich useku clear	all
	clc
zadani libovolneho poctu bodu	edges = [0 5 1 1 6 0 6
hold on aproximace rohu for	i
	vect1 = edges(:, i+1) - edges(:, i)
polovina useku	vect0 = vect0 / 2
	absVect0 = sqrt(vect0(1)^2 + vect0(2)^2)
	absVect1 = sqrt(vect1(1)^2 + vect1(2)^2)
	distance = absVect1
end pocatecni a koncovy bod	X0 = edges(:, i) + vect0
	X1 = edges(:, i) + vect1
uhly segmentu	angle0 = acos((vect0(1)) /(distance)) /pi * 180
end	angle1 = acos((vect1(1)) /(distance)) /pi * 180
end optimalizace i s absolutni vzdalenosti	m = fminsearch(@(m)plotspline(angle0,angle1,distance,m), 1)
NYNI VYCHYTAVKA APROXIMACE POMOCI ELIPSY	A = 6860
	B = 4.4
	alpha = abs(angle0 - angle1)
	x0 = X0(1)
	y0 = X0(2)
	x1 = X1(1)
	y1 = X1(2)
	xx0 = m*(p(2,1) - p(1,1))
	yy0 = m*(p(2,2) - p(1,2))
	xx1 = m*(p(3,1) - p(2,1))
	yy1 = m*(p(3,2) - p(2,2))
	px
	py
for	t = 0:0.01:1
grid on hold on for	kappa = ((5(-3xx1-3xx0-6x0+6x1)t^4+4(7xx1+8xx0+15x0-15x1)t^3+3(-4xx1-6xx0-10x0+10x1)t^2+xx0)(20(-3yy1-3yy0-6y0+6y1)t^3+12(7yy1+8yy0+15y0-15y1)t^2+6(-4yy1-6yy0-10y0+10y1)t)-(5(-3yy1-3yy0-6y0+6y1)t^4+4(7yy1+8yy0+15y0-15y1)t^3+3(-4yy1-6yy0-10y0+10y1)t^2+yy0)(20(-3xx1-3xx0-6x0+6x1)t^3+12(7xx1+8xx0+15x0-15x1)t^2+6(-4xx1-6xx0-10x0+10x1)t))/((5(-3xx1-3xx0-6x0+6x1)t^4+4(7xx1+8xx0+15x0-15x1)t^3+3(-4xx1-6xx0-10x0+10x1)t^2+xx0)^2+(5(-3yy1-3yy0-6y0+6y1)t^4+4(7yy1+8yy0+15y0-15y1)t^3+3(-4yy1-6yy0-10y0+10y1)t^2+yy0)^2)^(3/2)

Function Documentation

cos ( angle1/180 * pi )

vykresleni aproximacniho splinu figure ( 3 )

end figure ( 4 )

if	(	absVect0	,
		absVect1
	)

if ( )

plot	(	edges(1,:)	,
		edges(2,:)	,
		'r'
	)

for plot	(	polyval(px, t)	,
		polyval(py, t)	,
		'.b'
	)

plot	(	t	,
		kappa	,
		'+m'
	)

vypocet polynomu	(	to uz dela	plotspline,
		ale ja	nevim,
		jak to z toho dostat po dobehu	fminsearch
	)

grid title ( 'lin2spline' )

xlabel ( 'x' )

xlabel ( 't' )

ylabel ( 'y' )

Variable Documentation

NYNI VYCHYTAVKA APROXIMACE POMOCI ELIPSY A = 6860

absVect0 = sqrt(vect0(1)^2 + vect0(2)^2)

absVect1 = sqrt(vect1(1)^2 + vect1(2)^2)

close all

alpha = abs(angle0 - angle1)

uhly segmentu angle0 = acos((vect0(1)) /(distance)) /pi * 180

end angle1 = acos((vect1(1)) /(distance)) /pi * 180

B = 4.4

clc

distance = absVect1

zadani libovolneho poctu bodu edges = [0 5 1 1 6 0 6

hold on aproximace rohu for i

Initial value:

2:length(edges)-1
    vect0 = edges(:, i-1) - edges(:, i)

grid on hold on for kappa = ((5*(-3*xx1-3*xx0-6*x0+6*x1)*t^4+4*(7*xx1+8*xx0+15*x0-15*x1)*t^3+3*(-4*xx1-6*xx0-10*x0+10*x1)*t^2+xx0)*(20*(-3*yy1-3*yy0-6*y0+6*y1)*t^3+12*(7*yy1+8*yy0+15*y0-15*y1)*t^2+6*(-4*yy1-6*yy0-10*y0+10*y1)*t)-(5*(-3*yy1-3*yy0-6*y0+6*y1)*t^4+4*(7*yy1+8*yy0+15*y0-15*y1)*t^3+3*(-4*yy1-6*yy0-10*y0+10*y1)*t^2+yy0)*(20*(-3*xx1-3*xx0-6*x0+6*x1)*t^3+12*(7*xx1+8*xx0+15*x0-15*x1)*t^2+6*(-4*xx1-6*xx0-10*x0+10*x1)*t))/((5*(-3*xx1-3*xx0-6*x0+6*x1)*t^4+4*(7*xx1+8*xx0+15*x0-15*x1)*t^3+3*(-4*xx1-6*xx0-10*x0+10*x1)*t^2+xx0)^2+(5*(-3*yy1-3*yy0-6*y0+6*y1)*t^4+4*(7*yy1+8*yy0+15*y0-15*y1)*t^3+3*(-4*yy1-6*yy0-10*y0+10*y1)*t^2+yy0)^2)^(3/2)

m = fminsearch(@(m)plotspline(angle0,angle1,distance,m), 1)

px

Initial value:

 [ 
       -3*xx1-3*xx0-6*x0+6*x1
      7*xx1+8*xx0+15*x0-15*x1
     -4*xx1-6*xx0-10*x0+10*x1
                            0
                          xx0
                           x0]

py

Initial value:

 [
       -3*yy1-3*yy0-6*y0+6*y1
      7*yy1+8*yy0+15*y0-15*y1
     -4*yy1-6*yy0-10*y0+10*y1
                            0
                          yy0
                           y0]

complete trajectory algorithm aproximace rohu splinem radu

grid on hold on for t = 0:0.01:1

polovina useku vect0 = vect0 / 2

else vect1 = edges(:, i+1) - edges(:, i)

end pocatecni a koncovy bod X0 = edges(:, i) + vect0

x0 = X0(1)

x1 = X1(1)

X1 = edges(:, i) + vect1

xx0 = m*(p(2,1) - p(1,1))

xx1 = m*(p(3,1) - p(2,1))

y0 = X0(2)

y1 = X1(2)

yy0 = m*(p(2,2) - p(1,2))

yy1 = m*(p(3,2) - p(2,2))

lin2spline.m File Reference

Functions

Variables

Function Documentation

Variable Documentation