function[angle_Goalangle_Obs]=compute_angle（Xm_Targetm_Obsn）%Y是引力，斥力與x軸的角度向量X是起點坐標，Xsum是目標和障礙的坐標向量是（n+1）*2矩陣
??for?i=1:n%n是障礙數(shù)目
??????deltaXi=m_Obs（i1）-X（1）;
??????deltaYi=m_Obs（i2）-X（2）;
??????if?deltaXi>0
??????????theta=atan（deltaYi/deltaXi）;
??????else
??????????theta=pi+atan（deltaYi/deltaXi）;
??????end
??????angle_Obs（i）=pi+theta;
??end

??deltaXi=m_Target（1）-X（1）;
??deltaYi=m_Target（2）-X（2）;
??if?deltaXi>0
??????????theta=atan（deltaYi/deltaXi）;
??????else
??????????theta=pi+atan（deltaYi/deltaXi）;
??????end
??????????angle_Goal=theta;
end

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件?????????669??2010-04-21?16:20??人工勢場路徑規(guī)劃\compute_angle.asv
?????文件?????????619??2010-04-21?19:11??人工勢場路徑規(guī)劃\compute_angle.m
?????文件?????????342??2010-04-22?10:47??人工勢場路徑規(guī)劃\compute_Attract.m
?????文件?????????304??2010-04-21?21:20??人工勢場路徑規(guī)劃\compute_Ftotal.asv
?????文件?????????258??2010-04-28?14:36??人工勢場路徑規(guī)劃\compute_Ftotal.m
?????文件????????1187??2010-04-21?21:52??人工勢場路徑規(guī)劃\compute_repulsion.asv
?????文件????????1218??2010-04-28?14:14??人工勢場路徑規(guī)劃\compute_repulsion.m
?????文件???????????0??2010-04-28?14:27??人工勢場路徑規(guī)劃\Draw（.m
?????文件?????????476??2010-04-28?14:36??人工勢場路徑規(guī)劃\Draw.m
?????文件?????????525??2010-04-28?14:27??人工勢場路徑規(guī)劃\Draw_Model.m
?????文件?????????729??2010-04-28?14:35??人工勢場路徑規(guī)劃\Draw_Potential.asv
?????文件?????????767??2010-04-28?14:40??人工勢場路徑規(guī)劃\Draw_Potential.m
?????文件?????????227??2010-04-21?16:44??人工勢場路徑規(guī)劃\Is_Reach.asv
?????文件?????????242??2010-04-21?16:44??人工勢場路徑規(guī)劃\Is_Reach.m
?????文件????????1729??2010-04-28?10:25??人工勢場路徑規(guī)劃\main.asv
?????文件????????1727??2010-04-28?14:45??人工勢場路徑規(guī)劃\main.m
?????文件?????????149??2010-04-21?20:45??人工勢場路徑規(guī)劃\Obs_Generate.asv
?????文件?????????288??2010-04-21?21:26??人工勢場路徑規(guī)劃\Obs_Generate.m