%--------判斷兩個(gè)點(diǎn)的連接是否為連通狀態(tài)--------------------
function?result?=?Conn（x1y1x2y2）
%----聲明全局----------------------------
global?obstaclesx;
global?obstaclesy;
global?robotv;
%------------------

result?=?true;
theta?=?straightLine（x1y1x2y2）;

%進(jìn)行半徑為robtov的膨脹
%計(jì)算出機(jī)器人的四邊形
x?=?robotv*cos（theta）;
y?=?robotv*sin（theta）;
roblinex?=?[x1+xx2+xx2-xx1-xx1+x];
robliney?=?[y1+yy2+yy2-yy1-yy1+y];
%判斷連接處是否有障礙物，有的話返回false

for?i?=?1:size（obstaclesx1）
????%求機(jī)器人多邊形和障礙物多邊形是否相交
?
????if?poly_cross（roblinexroblineyobstaclesx（i:）obstaclesy（i:））
????????result?=?false;
????????return;
????end
end

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2013-11-28?20:28??粒子群算法路徑規(guī)劃RTM-2013-1128-2112\
?????文件?????????702??2009-01-10?17:46??粒子群算法路徑規(guī)劃RTM-2013-1128-2112\Conn.m
?????文件?????????462??2009-01-08?16:31??粒子群算法路徑規(guī)劃RTM-2013-1128-2112\line_cross.m
?????文件????????3813??2013-11-28?19:40??粒子群算法路徑規(guī)劃RTM-2013-1128-2112\pathplanning.asv
?????文件????????3910??2013-11-28?21:10??粒子群算法路徑規(guī)劃RTM-2013-1128-2112\pathplanning.m
?????文件?????????588??2009-01-08?16:38??粒子群算法路徑規(guī)劃RTM-2013-1128-2112\poly_cross.m
?????文件???????12412??2013-11-28?20:00??粒子群算法路徑規(guī)劃RTM-2013-1128-2112\PSM.asv
?????文件????????6596??2013-11-28?21:11??粒子群算法路徑規(guī)劃RTM-2013-1128-2112\PSM.fig
?????文件???????13442??2013-11-28?21:08??粒子群算法路徑規(guī)劃RTM-2013-1128-2112\PSM.m
?????文件?????????200??2013-11-28?18:09??粒子群算法路徑規(guī)劃RTM-2013-1128-2112\straightLine.m