function?[closestPoint?distance]?=?closestPointOnLine（pt1?pt2?refPt）
????%This?function?is?for?internal?use?only.?It?may?be?removed?in?the?future.

????%closestPointOnLine?Find?a?point?closest?to?refPt?（i.e.?projection?point）?on?line
????%?segment?between?pt1?and?pt2.?If?the?projected?point?is?outside?line
????%?segment?then?the?closest?vertex?is?returned.?This?function?is?used?in
????%?robotics.algs.internal.PurePursuitbase?class.

????
????%???Copyright?2016?The?MathWorks?Inc.

????%#codegen

????%?Don‘t?do?any?computation?if?points?are?equal
????if?isequal（pt1?pt2）
????????closestPoint?=?pt1;
????????distance?=?norm（refPt-closestPoint）;
????????return;
????end

????%?Vector?from?pt1?to?pt2
????v12?=?pt2?-?pt1;
????%?Vector?from?refPt?to?pt2
????vr2?=?pt2?-?refPt;

????%?Projection?of?the?vr2?on?v12?normalized?by?norm（v12）
????alpha?=?v12*vr2‘/（v12*v12‘）;

????%?Find?the?closet?point?by?interpolation
????if?alpha?>?1
????????closestPoint?=?pt1;
????elseif?alpha?????????closestPoint?=?pt2;
????else
????????closestPoint?=?alpha.*pt1?+?（1-alpha）.*pt2;
????end

????distance?=?norm（refPt-closestPoint）;

end

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2019-06-16?10:26??MPC-test\
?????文件???????29657??2019-04-16?17:45??MPC-test\HelperPathAnalyzer.m
?????文件???????38293??2019-06-16?10:26??MPC-test\LateralControlMPC.slx
?????文件????????4773??2019-06-16?10:25??MPC-test\LateralControlMPC.slxc
?????文件???????29664??2019-06-16?10:17??MPC-test\MpcRefMdl.slx
?????文件????????4604??2019-06-16?10:25??MPC-test\MpcRefMdl.slxc
?????文件??????151190??2019-06-11?23:48??MPC-test\automobile.png
?????文件????????1131??2019-05-21?14:07??MPC-test\closestPointOnLine.m
?????文件????????1237??2019-04-26?11:33??MPC-test\createCostmap.m
?????文件????????1610??2019-04-16?17:52??MPC-test\helperGoalChecker.m
?????文件????????5959??2017-12-06?23:59??MPC-test\helperPlotVehicle.m
?????文件????????2035??2019-04-16?18:39??MPC-test\helperSLCreateUtilityBus.m
?????文件????????1186??2018-12-29?03:13??MPC-test\helperSLCreateUtilityStruct.m
?????文件?????????293??2018-01-13?00:49??MPC-test\helperSLMatchStructFields.m
?????文件????????2474??2018-12-29?03:13??MPC-test\helperSLVisualizePath.m
?????文件????????4170??2017-11-04?02:48??MPC-test\helperVehiclePolyshape.m
?????目錄???????????0??2019-06-16?10:25??MPC-test\slprj\
?????目錄???????????0??2019-06-16?10:25??MPC-test\slprj\sim\
?????目錄???????????0??2019-06-16?10:25??MPC-test\slprj\sim\varcache\
?????目錄???????????0??2019-06-16?10:25??MPC-test\slprj\sim\varcache\LateralControlMPC\
?????文件?????????392??2019-06-16?10:25??MPC-test\slprj\sim\varcache\LateralControlMPC\checksumOfCache.mat
?????目錄???????????0??2019-06-16?10:25??MPC-test\slprj\sim\varcache\LateralControlMPC\tmwinternal\
?????文件?????????312??2019-06-16?10:25??MPC-test\slprj\sim\varcache\LateralControlMPC\tmwinternal\simulink_cache.xml
?????文件????????3536??2019-06-16?10:25??MPC-test\slprj\sim\varcache\LateralControlMPC\varInfo.mat
?????目錄???????????0??2019-06-16?10:25??MPC-test\slprj\sim\varcache\MpcRefMdl\
?????文件?????????392??2019-06-16?10:25??MPC-test\slprj\sim\varcache\MpcRefMdl\checksumOfCache.mat
?????目錄???????????0??2019-06-16?10:25??MPC-test\slprj\sim\varcache\MpcRefMdl\tmwinternal\
?????文件?????????312??2019-06-16?10:25??MPC-test\slprj\sim\varcache\MpcRefMdl\tmwinternal\simulink_cache.xml
?????文件????????1040??2019-06-16?10:25??MPC-test\slprj\sim\varcache\MpcRefMdl\varInfo.mat