%%?Function?collisionCheck
%?
%?*Description:*?Returns?whether?a?collision?occurs?between?an?edge?and?a?set
%?of?obstacles.?Also?gives?the?point?of?intersection.?（P1=nodeP2=parent?node）

function?[collisionPInt]=collisionCheck（P1P2obs）
collision=0;
global?collcount;
collcount=collcount+1;
%default?is?that?it?is?safe?then?if?a?collision?is?found?it?is?set?to?1
%and?we?return

if?size（obs1）==0
????PInt=inf;
????return;
end
%?Calculate?intercept?point?of?a?line?and?line
%?---------------------------------------------


for?i=1:size（obs3）
??
????pt1.x?=?P1（1）;
????pt1.y?=?P1（2）;
????pt2.x?=?P2（1）;
????pt2.y?=?P2（2）;
????pt3.x?=?obs（11i）;
????pt3.y?=?obs（12i）;
????pt4.x?=?obs（21i）;
????pt4.y?=?obs（22i）;
????
??????denom=（（pt4.y?-?pt3.y）*（pt2.x?-?pt1.x））-（（pt4.x?-?pt3.x）*（pt2.y?-?pt1.y））;
??????nume_a=（（pt4.x?-?pt3.x）*（pt1.y?-?pt3.y））-（（pt4.y?-?pt3.y）*（pt1.x?-?pt3.x））;
??????nume_b=（（pt2.x?-?pt1.x）*（pt1.y?-?pt3.y））-（（pt2.y?-?pt1.y）*（pt1.x?-?pt3.x））;
?
????????if（denom==0）
????????????if（nume_a?==?0?&?nume_b?==?0）
????????????????collision=1;
????????????????PInt=inf;
????????????????return;
????????????end
????????????collision=0;
????????end
?
????????ua?=?nume_a?/?denom;
????????ub?=?nume_b?/?denom;
?
????????if（ua?>=?0.0?&?ua?<=?1.0?&?ub?>=?0.0?&?ub?<=?1.0）
????????????%?Get?the?intersection?point.
????????????PInt（1）?=?pt1.x?+?ua*（pt2.x?-?pt1.x）;
????????????PInt（2）?=?pt1.y?+?ua*（pt2.y?-?pt1.y）;
????????????collision=1;
????????????return;
????????end
????????collision=0;
????????PInt=Inf;

end

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-05-21?09:52??2維RRT避障路徑規(guī)劃\
?????文件?????????476??2009-11-04?14:33??2維RRT避障路徑規(guī)劃\PointInHole.m
?????文件?????????622??2009-11-04?11:40??2維RRT避障路徑規(guī)劃\PointInQuad.m
?????文件????????5052??2018-01-22?16:40??2維RRT避障路徑規(guī)劃\RRT.m
?????文件????????5054??2010-12-10?15:58??2維RRT避障路徑規(guī)劃\RRTv1.m
?????文件????????1591??2009-11-06?21:51??2維RRT避障路徑規(guī)劃\collisionCheck.m
?????文件????????4784??2009-11-04?11:40??2維RRT避障路徑規(guī)劃\connect.m
?????文件????????3795??2009-11-06?21:59??2維RRT避障路徑規(guī)劃\connect2.m
?????文件??????179254??2010-12-10?16:19??2維RRT避障路徑規(guī)劃\deltaq=10.bmp
?????文件??????236278??2010-12-10?16:17??2維RRT避障路徑規(guī)劃\deltaq=20.bmp
?????文件????????1292??2009-11-04?22:26??2維RRT避障路徑規(guī)劃\displayTree.m
?????文件????????1710??2009-11-04?11:40??2維RRT避障路徑規(guī)劃\dist2edges.m
?????文件?????????495??2010-12-10?18:43??2維RRT避障路徑規(guī)劃\getSegmentPoint.m
?????文件????????1160??2009-11-09?15:26??2維RRT避障路徑規(guī)劃\initSearch.m
?????文件??????236278??2010-12-10?17:27??2維RRT避障路徑規(guī)劃\jammed.bmp
?????文件?????1187638??2010-12-10?17:30??2維RRT避障路徑規(guī)劃\maze.bmp
?????文件????????1279??2009-11-10?15:18??2維RRT避障路徑規(guī)劃\monexplore.m
?????文件????????1678??2010-12-10?16:44??2維RRT避障路徑規(guī)劃\monexplore2.asv
?????文件????????1667??2010-12-10?16:55??2維RRT避障路徑規(guī)劃\monexplore2.m
?????文件?????????489??2009-11-04?12:37??2維RRT避障路徑規(guī)劃\nearestNeighbour.m
?????文件??????179254??2010-12-10?16:56??2維RRT避障路徑規(guī)劃\neurones.bmp
?????文件?????????343??2009-11-09?16:24??2維RRT避障路徑規(guī)劃\newPoint.m
?????文件?????????245??2010-12-10?17:24??2維RRT避障路徑規(guī)劃\obstacles.asv
?????文件?????????186??2010-12-10?17:55??2維RRT避障路徑規(guī)劃\obstacles.txt
?????文件?????????472??2009-11-05?14:08??2維RRT避障路徑規(guī)劃\obstacles2.txt
?????文件????????2279??2009-11-04?11:50??2維RRT避障路徑規(guī)劃\obstacles_array.m
?????文件????????1458??2009-11-05?11:40??2維RRT避障路徑規(guī)劃\obstacles_array2.m
?????文件?????????894??2009-11-04?11:40??2維RRT避障路徑規(guī)劃\sameSide.m
?????文件?????????355??2010-12-10?18:41??2維RRT避障路徑規(guī)劃\smoothPath.asv
?????文件?????????429??2010-12-10?18:43??2維RRT避障路徑規(guī)劃\smoothPath.m
?????文件?????????492??2010-12-10?18:00??2維RRT避障路徑規(guī)劃\smoothing.mat
............此處省略2個(gè)文件信息