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  • 回旋曲线的计算

     

     

    %% 调用 clothoid函数,并将终点位置的曲率半径设置为 0.1:0.2:3
    for i = 0.1:0.2:3
        clothoid(i)
    end
    
    %%%% 计算回旋曲线,并绘图
    function [] = clothoid(Rmin)
    
    N = 100; %% 
    sk = 2; %% 曲线长
    c = 1 / Rmin / sk; %% 曲率变化率,即上文中的曲率变化率 a
    x = zeros(1,N);
    y = zeros(1,N);
    
    for sk_i = sk / N : sk / N : sk
        result_x = 0; %% 初始化x坐标点的值
        result_y = 0; %% 初始化y坐标点的值
        
        for i = 0 : N %% 计算x
            result_x = result_x + ((-1) ^ i) * (c ^ (2 * i)) * (sk_i ^ (4 * i + 1)) / ((2 ^ (2 * i)) * (4 * i + 1) * fctorial(2 * i));
        end
        x(int32(sk_i / sk * N)) = result_x;
        
        for i = 0 : N %% 计算y
            result_y = result_y + ((-1) ^ i) * (c ^ (2 * i + 1)) * (sk_i ^ (4 * i + 3)) / ((2 ^ (2 * i + 1)) * (4 * i + 3) * fctorial(2 * i + 1));
        end
        y(int32(sk_i / sk * N)) = result_y;
        
    end
    
    hold on;
    plot(-x,-y);
    hold on;
    plot(-x(end),-y(end),'*'); %%回旋曲线的最后一个点
    axis equal;
    end
    

     

    _________________________________________________________________________________________________________________________________________________
    每一个不曾起舞的日子,都是对生命的辜负。
    But it is the same with man as with the tree. The more he seeks to rise into the height and light, the more vigorously do his roots struggle earthward, downward, into the dark, the deep - into evil.
    其实人跟树是一样的,越是向往高处的阳光,它的根就越要伸向黑暗的地底。----尼采
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  • 原文地址:https://www.cnblogs.com/leoking01/p/14506568.html
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