function?flag?=?access（startPoint?endPoint?tabu）%%起終點不一定是真正意義上的起終點，返回值為0時不可達
%?判斷startPoint?endPoint組成的線段是否與tabu構成的障礙物多邊形的邊相交
%?startPoint?1*2?double表示起點
%?endPoint?1*2?double?表示終點
%?tabu?pn*2?double?表示障礙物多邊形，每個點順次連接組成的多邊形，可以為凸多邊形，也可以為凹多邊形，但是不能有“洞“。tabu（1:）應該與tabu（end:）相同。（若不同，程序自動調整為相同）
%?Author?A.Star
%?e-mail?:?chenxiaolong12315@163.com
%?2017-5-30

????obj?=?tabu;
????obj?=?getPoly（obj）;
????len_lines?=?size（obj1）;
?????for?j?=?1?:?（len_lines）
%??????????if?startPoint==obj（j:）||endPoint==obj（j:）%%精度原因，出現錯誤
??????????if?sum（abs（startPoint-obj（j:）））?????????????continue;??????????????
??????????else???
?????????????if?collineation（startPoint?endPointobj（j:））?&&?sum（（endPoint-startPoint）./（obj（j:）-endPoint））<0?&&...
?????????????????????~（startPoint（1）>=min（obj（j1）endPoint（1））?&&?startPoint（2）>=min（obj（j2）endPoint（2））?&&?...
?????????????????????startPoint（1）<=max（obj（j1）endPoint（1））?&&?startPoint（2）<=max（obj（j2）endPoint（2）））
?????????????????flag?=?0;
?????????????????return
?????????????end
?????????end
?????end
????for?j?=?1?:?（len_lines-1）
????????[xy]?=?getCoorWithoutEndpoint（startPointendPointobj（j:）obj（j+1:））;
????????if?~（（isempty（x）?&&?isempty（y））?||?（isnan（x）?&&?isnan（y）））
????????????flag?=?0;
????????????return????????????
????????end
????end
flag?=?1;
end

?屬性????????????大小?????日期????時間???名稱
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?????文件???????1502??2017-05-29?23:37??pathPlanning4m-master\access.m

?????文件????????818??2017-05-29?23:37??pathPlanning4m-master\adjust.m

?????文件????????542??2017-05-29?23:37??pathPlanning4m-master\collineation.m

?????文件????????183??2017-05-29?23:37??pathPlanning4m-master\coordinate.m

?????文件???????1226??2017-05-29?23:37??pathPlanning4m-master\Dijkstra.m

?????文件????????408??2017-05-29?23:37??pathPlanning4m-master\getABC.m

?????文件????????613??2017-05-29?23:37??pathPlanning4m-master\getCoor.m

?????文件???????1322??2017-05-29?23:37??pathPlanning4m-master\getCoorWithoutEndpoint.m

?????文件???????1113??2017-05-29?23:37??pathPlanning4m-master\getPath.m

?????文件????????271??2017-05-29?23:37??pathPlanning4m-master\getPoly.m

?????文件????????969??2017-05-29?23:37??pathPlanning4m-master\inPoly.m

?????文件????????564??2017-05-29?23:37??pathPlanning4m-master\isOnSide.m

?????文件????????457??2017-05-29?23:37??pathPlanning4m-master\jiaodian.m

?????文件???????1631??2017-05-29?23:37??pathPlanning4m-master\lineInPoly.m

?????文件???????1501??2017-05-29?23:37??pathPlanning4m-master\main.m

?????文件????????499??2017-05-29?23:37??pathPlanning4m-master\onpolysite.m

?????文件????????273??2017-05-29?23:37??pathPlanning4m-master\plotObj.m

?????文件????????308??2017-05-29?23:37??pathPlanning4m-master\plotPath.m

?????文件????????130??2017-05-29?23:37??pathPlanning4m-master\readme.md

?????目錄??????????0??2018-05-14?16:21??pathPlanning4m-master

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