%%?Computes?the?coordinate?of?the?more?negative?y?of?two?circle?intersections
%?NOTE:?Two?methods?in?below?code?method?1?and?2.?If?method?2?doesn‘t?work
%?use?the?slower?method?1.?Comment?and?uncomment?appropriate?section
function?[x_soly_sol]?=?findCircIntersection（c1?r1?c2?r2）

????syms?x?y;?%?Points?we?are?trying?to?solve?for

????%?Extract?coordinates
????x1?=?c1（1）;?x2?=?c2（1）;
????y1?=?c1（2）;?y2?=?c2（2）;

????%%?----?Calculate?the?intersection?using?method?#1.?Not?optimized?----
????%?sol?=?solve（[r1==sqrt（（x-x1）^2+（y-y1）^2）?...
????%??????????????r2==sqrt（（x-x2）^2+（y-y2）^2）]）;

????%?%?Selected?the?more?negative?y?value?（Otherwords?the?smallest?y?value?pair）
????%?if?double（sol.x（1））?>?double（sol.x（2））?%z?value?check
????%?????x_sol?=?double（sol.x（1））;
????%?????y_sol?=?double（sol.y（1））;
????%?else
????%?????x_sol?=?double（sol.x（2））;
????%?????y_sol?=?double（sol.y（2））;
????%?end

????%%?----?Calculate?the?intersection?using?method?#2.?Optimized?function.?----
????[circx?circy]?=?circcirc（x1y1r1x2y2r2）;
????if?double（circx（1））?>?double（circx（2））?%z?value?check
????????x_sol?=?double（circx（1））;
????????y_sol?=?double（circy（1））;
????else
????????x_sol?=?double（circx（2））;
????????y_sol?=?double（circy（2））;
????end

end

?屬性????????????大小?????日期????時(shí)間???名稱(chēng)
-----------?---------??----------?-----??----
?????目錄???????????0??2015-12-15?02:56??delta_robot_code-master\
?????文件??????????17??2015-12-15?02:56??delta_robot_code-master\.gitignore
?????文件????????1420??2015-12-15?02:56??delta_robot_code-master\FK.m
?????文件????????1326??2015-12-15?02:56??delta_robot_code-master\IK.m
?????文件??????????92??2015-12-15?02:56??delta_robot_code-master\README.md
?????文件????????1251??2015-12-15?02:56??delta_robot_code-master\findCircIntersection.m
?????文件????????1310??2015-12-15?02:56??delta_robot_code-master\findSphereIntersection.m
?????文件?????????295??2015-12-15?02:56??delta_robot_code-master\generate_Lissajous_curve.m
?????文件?????????294??2015-12-15?02:56??delta_robot_code-master\generate_helix.m
?????文件?????????350??2015-12-15?02:56??delta_robot_code-master\generate_hypotrochoid.m
?????文件?????????815??2015-12-15?02:56??delta_robot_code-master\generate_hypotrochoid_star.m
?????文件?????????183??2015-12-15?02:56??delta_robot_code-master\generate_line.m
?????文件?????????487??2015-12-15?02:56??delta_robot_code-master\generate_slinky.m
?????文件?????????540??2015-12-15?02:56??delta_robot_code-master\generate_spiral.m
?????文件???????10600??2015-12-15?02:56??delta_robot_code-master\moving_simulation.m
?????文件????????6631??2015-12-15?02:56??delta_robot_code-master\moving_simulation_temp.m
?????文件????????6279??2015-12-15?02:56??delta_robot_code-master\plotWorkspace.m
?????文件????????2996??2015-12-15?02:56??delta_robot_code-master\simulation.m
?????文件????????4207??2015-12-15?02:56??delta_robot_code-master\trilateration.m