Functions
	tecna1_z (2)
	tecna2_z (1)
	tecna2_z (2)
	bod1_z (1))sinAlpha+(bod1_z(2))cosAlpha]
	bod2_z (1))sinAlpha+(bod2_z(2))cosAlpha]
	tecna1_z (1))sinAlpha+(tecna1_z(2))cosAlpha]
vypocet koeficientu &optimalizace potrebujeme spravnou krivost cur2 a spravny smer vjezdu do koncoveho bodu	while (1) pocetCyklu
	if (smer > 0)%vybereme popis bud s vyjezdem vpred nebo vzad%vyjezd vpred vpred=0
3/2	rad2_cnt ()
pocetCyklu > pocetCykluMax-1	smer ()
continue end	if (nenalezeno==2)%proti zacykleni break
end	if (pocetCyklu==1) tecna2y_cnt
kontrola smeru prijezdu	if (tecna2(2) > 0 &&tecna2y_cnt< 0)\|\|(tecna2(2)< 0 &&tecna2y_cnt > 0)%mame spatny smer if(rad2_cnt > 0) rad2
end else mame dobry smer	if (rad2_cnt > 0) rad2
end end	chyba (pocetCyklu, 1) = rad2 - rad2_cnt
	chyba (pocetCyklu, 2) = sign(rad2) * sign(rad2_cnt)
	if (presOpt > abs(chyba(pocetCyklu, 1))&&chyba(pocetCyklu, 2) > 0)%test break end krok = 1/rad2_cnt
break end	if (pocetCyklu==2 &&abs(chyba(pocetCyklu)) > abs(chyba(pocetCyklu-1)))%pokud se chyba zvetsuje%nastavit krok opacnym smerem krok
continue end	if (sign(chyba(pocetCyklu))*sign(chyba(pocetCyklu-1))< 0)%pokud ma chyba opacnou polaritu krok
id	sinAlpha ()
Variables
function	polynom
povolena chyba optimalizace parametru cur2	pocetCykluMax = 35
vypocet uhlu rotace	cosAlpha = (bod2_z(1)-bod1_z(1)) / (sqrt((bod2_z(1)-bod1_z(1))^2 + (bod2_z(2)-bod1_z(2))^2))
	sinAlpha = (bod2_z(2)-bod1_z(2)) / (sqrt((bod2_z(1)-bod1_z(1))^2 + (bod2_z(2)-bod1_z(2))^2))
	angleDeg = angle(cosAlpha + isinAlpha) / (2pi) * 360
prepocitani rotovaneho zadani	bod1 = [(bod1_z(1))cosAlpha-(bod1_z(2))sinAlpha
	bod2 = [(bod2_z(1))cosAlpha-(bod2_z(2))sinAlpha
	tecna1 = [(tecna1_z(1))cosAlpha-(tecna1_z(2))sinAlpha
	tecna2 = [(tecna2_z(1))cosAlpha-(tecna2_z(2))sinAlpha
	cur1 = cur1_z
	cur2 = cur2_z
	bod1x = bod1(1)
	bod1y = bod1(2)
	bod2x = bod2(1)
	bod2y = bod2(2)
	tec1 = tecna1(2)/tecna1(1)
	tec2 = tecna2(2)/tecna2(1)
	smer = sign(tecna1(1))
	Ax = -1
pocatecni pokus optimalizace	pocetCyklu = 0
	nenalezeno = 0
	Dx = bod1x
	Dy = bod1y
	Cx = 1/cur1((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3tec1^4+1+tec1^6))^(1/2)+1/cur1(-(2((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3tec1^4+1+tec1^6))^(1/2)tec2tec1-((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3tec1^4+1+tec1^6))^(1/2)tec2^2-((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3tec1^4+1+tec1^6))^(1/2)tec1^2-6cur1tec2bod2y+2cur1tec1^2bod1x+2cur1tec1^2Ax+6cur1bod2ytec1+2cur1tec2tec1bod1x+2cur1tec2^2Ax-6cur1tec1bod1y+4cur1tec2^2bod2x-4cur1tec2^2bod1x+6cur1tec2bod1y-2cur1tec1^2bod2x-4cur1tec2Axtec1-2cur1tec2bod2xtec1)/(3tec1^2+3tec1^4+1+tec1^6)/((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3*tec1^4+1+tec1^6))^(1/2))^(1/2)
	Cy = tec1(1/cur1((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3tec1^4+1+tec1^6))^(1/2)+1/cur1(-(2((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3tec1^4+1+tec1^6))^(1/2)tec2tec1-((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3tec1^4+1+tec1^6))^(1/2)tec2^2-((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3tec1^4+1+tec1^6))^(1/2)tec1^2-6cur1tec2bod2y+2cur1tec1^2bod1x+2cur1tec1^2Ax+6cur1bod2ytec1+2cur1tec2tec1bod1x+2cur1tec2^2Ax-6cur1tec1bod1y+4cur1tec2^2bod2x-4cur1tec2^2bod1x+6cur1tec2bod1y-2cur1tec1^2bod2x-4cur1tec2Axtec1-2cur1tec2bod2xtec1)/(3tec1^2+3tec1^4+1+tec1^6)/((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3tec1^4+1+tec1^6))^(1/2))^(1/2))
	Bx = bod2x-Ax-1/cur1((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3tec1^4+1+tec1^6))^(1/2)-1/cur1(-(2((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3tec1^4+1+tec1^6))^(1/2)tec2tec1-((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3tec1^4+1+tec1^6))^(1/2)tec2^2-((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3tec1^4+1+tec1^6))^(1/2)tec1^2-6cur1tec2bod2y+2cur1tec1^2bod1x+2cur1tec1^2Ax+6cur1bod2ytec1+2cur1tec2tec1bod1x+2cur1tec2^2Ax-6cur1tec1bod1y+4cur1tec2^2bod2x-4cur1tec2^2bod1x+6cur1tec2bod1y-2cur1tec1^2bod2x-4cur1tec2Axtec1-2cur1tec2bod2xtec1)/(3tec1^2+3tec1^4+1+tec1^6)/((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3*tec1^4+1+tec1^6))^(1/2))^(1/2)-bod1x
	By = -tec2Ax-2tec2bod2x+tec2(1/cur1((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3tec1^4+1+tec1^6))^(1/2)+1/cur1(-(2((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3tec1^4+1+tec1^6))^(1/2)tec2tec1-((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3tec1^4+1+tec1^6))^(1/2)tec2^2-((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3tec1^4+1+tec1^6))^(1/2)tec1^2-6cur1tec2bod2y+2cur1tec1^2bod1x+2cur1tec1^2Ax+6cur1bod2ytec1+2cur1tec2tec1bod1x+2cur1tec2^2Ax-6cur1tec1bod1y+4cur1tec2^2bod2x-4cur1tec2^2bod1x+6cur1tec2bod1y-2cur1tec1^2bod2x-4cur1tec2Axtec1-2cur1tec2bod2xtec1)/(3tec1^2+3tec1^4+1+tec1^6)/((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3tec1^4+1+tec1^6))^(1/2))^(1/2))+2tec2bod1x+3bod2y-2tec1(1/cur1((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3tec1^4+1+tec1^6))^(1/2)+1/cur1(-(2((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3tec1^4+1+tec1^6))^(1/2)tec2tec1-((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3tec1^4+1+tec1^6))^(1/2)tec2^2-((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3tec1^4+1+tec1^6))^(1/2)tec1^2-6cur1tec2bod2y+2cur1tec1^2bod1x+2cur1tec1^2Ax+6cur1bod2ytec1+2cur1tec2tec1bod1x+2cur1tec2^2Ax-6cur1tec1bod1y+4cur1tec2^2bod2x-4cur1tec2^2bod1x+6cur1tec2bod1y-2cur1tec1^2bod2x-4cur1tec2Axtec1-2cur1tec2bod2xtec1)/(3tec1^2+3tec1^4+1+tec1^6)/((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3tec1^4+1+tec1^6))^(1/2))^(1/2))-3bod1y
	Ay = -2bod2y+tec2Ax+2tec2bod2x-tec2(1/cur1((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3tec1^4+1+tec1^6))^(1/2)+1/cur1(-(2((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3tec1^4+1+tec1^6))^(1/2)tec2tec1-((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3tec1^4+1+tec1^6))^(1/2)tec2^2-((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3tec1^4+1+tec1^6))^(1/2)tec1^2-6cur1tec2bod2y+2cur1tec1^2bod1x+2cur1tec1^2Ax+6cur1bod2ytec1+2cur1tec2tec1bod1x+2cur1tec2^2Ax-6cur1tec1bod1y+4cur1tec2^2bod2x-4cur1tec2^2bod1x+6cur1tec2bod1y-2cur1tec1^2bod2x-4cur1tec2Axtec1-2cur1tec2bod2xtec1)/(3tec1^2+3tec1^4+1+tec1^6)/((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3tec1^4+1+tec1^6))^(1/2))^(1/2))-2tec2bod1x+tec1(1/cur1((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3tec1^4+1+tec1^6))^(1/2)+1/cur1(-(2((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3tec1^4+1+tec1^6))^(1/2)tec2tec1-((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3tec1^4+1+tec1^6))^(1/2)tec2^2-((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3tec1^4+1+tec1^6))^(1/2)tec1^2-6cur1tec2bod2y+2cur1tec1^2bod1x+2cur1tec1^2Ax+6cur1bod2ytec1+2cur1tec2tec1bod1x+2cur1tec2^2Ax-6cur1tec1bod1y+4cur1tec2^2bod2x-4cur1tec2^2bod1x+6cur1tec2bod1y-2cur1tec1^2bod2x-4cur1tec2Axtec1-2cur1tec2bod2xtec1)/(3tec1^2+3tec1^4+1+tec1^6)/((-2tec2tec1+tec2^2+tec1^2)/(3tec1^2+3tec1^4+1+tec1^6))^(1/2))^(1/2))+2*bod1y
else vyjezd vzad	vzad = 0
	rad2_cnt = 1/rad2_cnt
cilovy polomer finalni krivosti else	rad2 = 1/cur2
	Kx = '(Axt^3+Bxt^2+Cxt+Dx)cosAlpha-(Ayt^3+Byt^2+Cyt+Dy)sinAlpha'
	Ky = '(Axt^3+Bxt^2+Cxt+Dx)sinAlpha+(Ayt^3+Byt^2+Cyt+Dy)cosAlpha'
POZNAMKA k vypoctu zpet otocenych koeficientu lze pouzit jednoduchou rotaci souradnic jako	vzdy
POZNAMKA k vypoctu zpet otocenych koeficientu lze pouzit jednoduchou rotaci souradnic jako ale postupne po jednotlivych koeficientech to bude nakone vystupem algoritmu	Ax_z = (Ax)cosAlpha-(Ay)sinAlpha
	Ay_z = (Ax)sinAlpha+(Ay)cosAlpha
	Bx_z = (Bx)cosAlpha-(By)sinAlpha
	By_z = (Bx)sinAlpha+(By)cosAlpha
	Cx_z = (Cx)cosAlpha-(Cy)sinAlpha
	Cy_z = (Cx)sinAlpha+(Cy)cosAlpha
	Dx_z = (Dx)cosAlpha-(Dy)sinAlpha
	Dy_z = (Dx)sinAlpha+(Dy)cosAlpha

Function Documentation

bod1_z ( 1 )

bod2_z ( 1 )

continue end optimalizace rad2 chyba	(	pocetCyklu	,
		1
	)			= rad2 - rad2_cnt

chyba	(	pocetCyklu	,
		2
	)			= sign(rad2) * sign(rad2_cnt)

break end if	(	pocetCyklu	= `=2 &&abs(chyba(pocetCyklu))`,
		abs(chyba(pocetCyklu-1))
	)

if	(	smer	,
		0
	)			`[pure virtual]`

if	(	presOpt	,
		abs(chyba(pocetCyklu, 1))&&chyba(pocetCyklu, 2)	,
		0
	)			= 1/rad2_cnt

end else mame dobry smer if	(	rad2_cnt	,
		0
	)

continue end if ( )

Here is the caller graph for this function:

continue end if ( nenalezeno = =2 )

end if ( pocetCyklu = =1 )

kontrola smeru prijezdu if	(	tecna2(2)	,
		0 &&tecna2y_cnt< 0)\|\|(tecna2(2)< 0 &&tecna2y_cnt > 0)%mame spatny smer if(rad2_cnt >	0
	)

3/2 rad2_cnt ( ) [virtual]

id sinAlpha ( ) [virtual]

pocetCyklu > pocetCykluMax-1 smer ( ) [virtual]

tecna1_z ( 2 )

tecna1_z ( 1 )

tecna2_z ( 1 )

tecna2_z ( 2 )

vypocet koeficientu& optimalizace potrebujeme spravnou krivost cur2 a spravny smer vjezdu do koncoveho bodu while ( 1 )

Variable Documentation

angleDeg = angle(cosAlpha + i*sinAlpha) / (2*pi) * 360

end Ax = -1

POZNAMKA k vypoctu zpet otocenych koeficientu lze pouzit jednoduchou rotaci souradnic jako ale postupne po jednotlivych koeficientech to bude nakone vystupem algoritmu Ax_z = (Ax)*cosAlpha-(Ay)*sinAlpha

Ay = -2*bod2y+tec2*Ax+2*tec2*bod2x-tec2*(1/cur1*((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2)+1/cur1*(-(2*((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2)*tec2*tec1-((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2)*tec2^2-((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2)*tec1^2-6*cur1*tec2*bod2y+2*cur1*tec1^2*bod1x+2*cur1*tec1^2*Ax+6*cur1*bod2y*tec1+2*cur1*tec2*tec1*bod1x+2*cur1*tec2^2*Ax-6*cur1*tec1*bod1y+4*cur1*tec2^2*bod2x-4*cur1*tec2^2*bod1x+6*cur1*tec2*bod1y-2*cur1*tec1^2*bod2x-4*cur1*tec2*Ax*tec1-2*cur1*tec2*bod2x*tec1)/(3*tec1^2+3*tec1^4+1+tec1^6)/((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2))^(1/2))-2*tec2*bod1x+tec1*(1/cur1*((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2)+1/cur1*(-(2*((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2)*tec2*tec1-((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2)*tec2^2-((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2)*tec1^2-6*cur1*tec2*bod2y+2*cur1*tec1^2*bod1x+2*cur1*tec1^2*Ax+6*cur1*bod2y*tec1+2*cur1*tec2*tec1*bod1x+2*cur1*tec2^2*Ax-6*cur1*tec1*bod1y+4*cur1*tec2^2*bod2x-4*cur1*tec2^2*bod1x+6*cur1*tec2*bod1y-2*cur1*tec1^2*bod2x-4*cur1*tec2*Ax*tec1-2*cur1*tec2*bod2x*tec1)/(3*tec1^2+3*tec1^4+1+tec1^6)/((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2))^(1/2))+2*bod1y

Ay_z = (Ax)*sinAlpha+(Ay)*cosAlpha

prepocitani rotovaneho zadani bod1 = [(bod1_z(1))*cosAlpha-(bod1_z(2))*sinAlpha

bod1x = bod1(1)

bod1y = bod1(2)

bod2 = [(bod2_z(1))*cosAlpha-(bod2_z(2))*sinAlpha

bod2x = bod2(1)

bod2y = bod2(2)

Bx = bod2x-Ax-1/cur1*((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2)-1/cur1*(-(2*((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2)*tec2*tec1-((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2)*tec2^2-((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2)*tec1^2-6*cur1*tec2*bod2y+2*cur1*tec1^2*bod1x+2*cur1*tec1^2*Ax+6*cur1*bod2y*tec1+2*cur1*tec2*tec1*bod1x+2*cur1*tec2^2*Ax-6*cur1*tec1*bod1y+4*cur1*tec2^2*bod2x-4*cur1*tec2^2*bod1x+6*cur1*tec2*bod1y-2*cur1*tec1^2*bod2x-4*cur1*tec2*Ax*tec1-2*cur1*tec2*bod2x*tec1)/(3*tec1^2+3*tec1^4+1+tec1^6)/((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2))^(1/2)-bod1x

Bx_z = (Bx)*cosAlpha-(By)*sinAlpha

By = -tec2*Ax-2*tec2*bod2x+tec2*(1/cur1*((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2)+1/cur1*(-(2*((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2)*tec2*tec1-((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2)*tec2^2-((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2)*tec1^2-6*cur1*tec2*bod2y+2*cur1*tec1^2*bod1x+2*cur1*tec1^2*Ax+6*cur1*bod2y*tec1+2*cur1*tec2*tec1*bod1x+2*cur1*tec2^2*Ax-6*cur1*tec1*bod1y+4*cur1*tec2^2*bod2x-4*cur1*tec2^2*bod1x+6*cur1*tec2*bod1y-2*cur1*tec1^2*bod2x-4*cur1*tec2*Ax*tec1-2*cur1*tec2*bod2x*tec1)/(3*tec1^2+3*tec1^4+1+tec1^6)/((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2))^(1/2))+2*tec2*bod1x+3*bod2y-2*tec1*(1/cur1*((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2)+1/cur1*(-(2*((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2)*tec2*tec1-((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2)*tec2^2-((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2)*tec1^2-6*cur1*tec2*bod2y+2*cur1*tec1^2*bod1x+2*cur1*tec1^2*Ax+6*cur1*bod2y*tec1+2*cur1*tec2*tec1*bod1x+2*cur1*tec2^2*Ax-6*cur1*tec1*bod1y+4*cur1*tec2^2*bod2x-4*cur1*tec2^2*bod1x+6*cur1*tec2*bod1y-2*cur1*tec1^2*bod2x-4*cur1*tec2*Ax*tec1-2*cur1*tec2*bod2x*tec1)/(3*tec1^2+3*tec1^4+1+tec1^6)/((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2))^(1/2))-3*bod1y

By_z = (Bx)*sinAlpha+(By)*cosAlpha

cosAlpha = (bod2_z(1)-bod1_z(1)) / (sqrt((bod2_z(1)-bod1_z(1))^2 + (bod2_z(2)-bod1_z(2))^2))

else cur1 = cur1_z

end cur2 = cur2_z

Cx = 1/cur1*((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2)+1/cur1*(-(2*((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2)*tec2*tec1-((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2)*tec2^2-((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2)*tec1^2-6*cur1*tec2*bod2y+2*cur1*tec1^2*bod1x+2*cur1*tec1^2*Ax+6*cur1*bod2y*tec1+2*cur1*tec2*tec1*bod1x+2*cur1*tec2^2*Ax-6*cur1*tec1*bod1y+4*cur1*tec2^2*bod2x-4*cur1*tec2^2*bod1x+6*cur1*tec2*bod1y-2*cur1*tec1^2*bod2x-4*cur1*tec2*Ax*tec1-2*cur1*tec2*bod2x*tec1)/(3*tec1^2+3*tec1^4+1+tec1^6)/((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2))^(1/2)

Cx_z = (Cx)*cosAlpha-(Cy)*sinAlpha

Cy = tec1*(1/cur1*((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2)+1/cur1*(-(2*((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2)*tec2*tec1-((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2)*tec2^2-((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2)*tec1^2-6*cur1*tec2*bod2y+2*cur1*tec1^2*bod1x+2*cur1*tec1^2*Ax+6*cur1*bod2y*tec1+2*cur1*tec2*tec1*bod1x+2*cur1*tec2^2*Ax-6*cur1*tec1*bod1y+4*cur1*tec2^2*bod2x-4*cur1*tec2^2*bod1x+6*cur1*tec2*bod1y-2*cur1*tec1^2*bod2x-4*cur1*tec2*Ax*tec1-2*cur1*tec2*bod2x*tec1)/(3*tec1^2+3*tec1^4+1+tec1^6)/((-2*tec2*tec1+tec2^2+tec1^2)/(3*tec1^2+3*tec1^4+1+tec1^6))^(1/2))^(1/2))

Cy_z = (Cx)*sinAlpha+(Cy)*cosAlpha

Dx = bod1x

Dx_z = (Dx)*cosAlpha-(Dy)*sinAlpha

Dy = bod1y

Dy_z = (Dx)*sinAlpha+(Dy)*cosAlpha

Kx = '(Ax*t^3+Bx*t^2+Cx*t+Dx)*cosAlpha-(Ay*t^3+By*t^2+Cy*t+Dy)*sinAlpha'

Ky = '(Ax*t^3+Bx*t^2+Cx*t+Dx)*sinAlpha+(Ay*t^3+By*t^2+Cy*t+Dy)*cosAlpha'

nenalezeno = 0

pocetCyklu = 0

povolena chyba optimalizace parametru cur2 pocetCykluMax = 35

navrat polynomu polynom

Initial value:

nahrada_useku(bod1_z, bod2_z, tecna1_z, tecna2_z, cur1_z, cur2_z)


presOpt = 0.05

cilovy polomer finalni krivosti else rad2 = 1/cur2

rad2_cnt = 1/rad2_cnt

sinAlpha = (bod2_z(2)-bod1_z(2)) / (sqrt((bod2_z(1)-bod1_z(1))^2 + (bod2_z(2)-bod1_z(2))^2))

smer = sign(tecna1(1))

tec1 = tecna1(2)/tecna1(1)

tec2 = tecna2(2)/tecna2(1)

tecna1 = [(tecna1_z(1))*cosAlpha-(tecna1_z(2))*sinAlpha

tecna2 = [(tecna2_z(1))*cosAlpha-(tecna2_z(2))*sinAlpha

else vyjezd vzad vzad = 0

POZNAMKA k vypoctu zpet otocenych koeficientu lze pouzit jednoduchou rotaci souradnic jako vzdy

nahrada_useku.m File Reference

Functions

Variables

Function Documentation

Variable Documentation