From abcd1141f3ef4e13a2a8f5767c0ef5923cbb5982 Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Mon, 28 Jan 2019 15:58:09 -0500 Subject: [PATCH] added source for circle radius stuff --- Software/offline/Collision_Avoidance/avoid_collision.m | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/Software/offline/Collision_Avoidance/avoid_collision.m b/Software/offline/Collision_Avoidance/avoid_collision.m index 3f403ba5..e5f12fa8 100644 --- a/Software/offline/Collision_Avoidance/avoid_collision.m +++ b/Software/offline/Collision_Avoidance/avoid_collision.m @@ -1,6 +1,6 @@ function new_delta = avoid_collision(x, delta, relative_locs) -% define tolderance, step size, max iter, etc +% define tolerance, step size, max iter, etc % initialize new_delta to max right % todo run this again but use full left as well, see if they converge in @@ -10,6 +10,7 @@ % determine the gradient % get the radius of the circle drawn with delta' +% from http://www.davdata.nl/math/turning_radius.html % use the circle formula on each landmark to figure out if it's on the path