clothoid

diff --git a/src/motion/splines/lin2spline.m b/src/motion/splines/lin2spline.m
index 6c67ab56e29a2cb147f9a256411fced0a25011ad..b8606f720b53d286ce79e6f612406f050066fee1 100644 (file)
--- a/src/motion/splines/lin2spline.m
+++ b/src/motion/splines/lin2spline.m
@@ -110,5 +110,5 @@ for i=2:length(edges)-1
         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);\r
         plot(t, kappa, '+m');\r
     end\r
-\r
+keyboard\r
 end
\ No newline at end of file

diff --git a/src/motion/splines/optimalm.m b/src/motion/splines/optimalm.m
index b925e5228bb112f43c90e3f1e6eec4ca520881d6..93735e97f3185f55d3336461feb21b2453f6d0d2 100644 (file)
--- a/src/motion/splines/optimalm.m
+++ b/src/motion/splines/optimalm.m
@@ -12,3 +12,8 @@ for i=1:length(angles),
     ylabel('m');\r
 end\r
 \r
+hold on\r
+B=4.4;\r
+A=6850;\r
+eli = sqrt(B-(angles-180).^2./A);\r
+plot(angles, eli, 'r');
\ No newline at end of file

diff --git a/src/motion/splines/pdf/10.1.1.46.1290.pdf b/src/motion/splines/pdf/10.1.1.46.1290.pdf
new file mode 100644 (file)
index 0000000..5397adf
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diff --git a/src/motion/splines/pdf/clothoid.pdf b/src/motion/splines/pdf/clothoid.pdf
new file mode 100644 (file)
index 0000000..fdc9768
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diff --git a/src/motion/splines/pdf/shin_dong_hun_1990_1.pdf b/src/motion/splines/pdf/shin_dong_hun_1990_1.pdf
new file mode 100644 (file)
index 0000000..d56446a
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