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??2019-06-10?15:43??pure?control\
?????文件???????29657??2019-04-16?17:45??pure?control\HelperPathAnalyzer.m
?????文件???????43394??2019-06-10?15:42??pure?control\LateralControlPurePursuit.slx
?????文件????????5245??2019-06-10?15:43??pure?control\LateralControlPurePursuit.slxc
?????文件???????37245??2019-04-26?11:47??pure?control\LateralControlPurePursuitCodeGen.slx
?????目錄???????????0??2019-05-19?15:16??pure?control\LateralControlPurePursuit_grt_rtw\
?????文件?????????813??2019-05-19?15:16??pure?control\LateralControlPurePursuit_grt_rtw\LateralControlPurePursuit.bat
?????文件???????60206??2019-05-19?15:16??pure?control\LateralControlPurePursuit_grt_rtw\LateralControlPurePursuit.c
?????文件???????46758??2019-05-19?15:16??pure?control\LateralControlPurePursuit_grt_rtw\LateralControlPurePursuit.h
?????文件???????13123??2019-05-19?15:16??pure?control\LateralControlPurePursuit_grt_rtw\LateralControlPurePursuit.mk
?????文件???????29766??2019-05-19?15:16??pure?control\LateralControlPurePursuit_grt_rtw\LateralControlPurePursuit.obj
?????文件?????????135??2019-05-19?15:16??pure?control\LateralControlPurePursuit_grt_rtw\LateralControlPurePursuit.rsp
?????文件?????????384??2019-05-19?15:16??pure?control\LateralControlPurePursuit_grt_rtw\LateralControlPurePursuit_comp.rsp
?????文件???????30202??2019-05-19?15:16??pure?control\LateralControlPurePursuit_grt_rtw\LateralControlPurePursuit_data.c
?????文件???????15573??2019-05-19?15:16??pure?control\LateralControlPurePursuit_grt_rtw\LateralControlPurePursuit_data.obj
?????文件????????1924??2019-05-19?15:16??pure?control\LateralControlPurePursuit_grt_rtw\LateralControlPurePursuit_private.h
?????文件???????????0??2019-05-19?15:16??pure?control\LateralControlPurePursuit_grt_rtw\LateralControlPurePursuit_ref.rsp
?????文件????????1977??2019-05-19?15:16??pure?control\LateralControlPurePursuit_grt_rtw\LateralControlPurePursuit_types.h
?????文件???????39775??2019-05-19?15:16??pure?control\LateralControlPurePursuit_grt_rtw\buildInfo.mat
?????文件????????1508??2019-05-19?15:16??pure?control\LateralControlPurePursuit_grt_rtw\builtin_typeid_types.h
?????文件???????18626??2019-05-19?15:16??pure?control\LateralControlPurePursuit_grt_rtw\codeInfo.mat
?????文件??????820224??2019-05-19?15:16??pure?control\LateralControlPurePursuit_grt_rtw\codedescriptor.dmr
?????文件?????????556??2019-05-19?15:16??pure?control\LateralControlPurePursuit_grt_rtw\compileInfo.mat
?????文件?????????213??2019-05-19?15:16??pure?control\LateralControlPurePursuit_grt_rtw\defines.txt
?????文件??????????78??2019-05-19?15:16??pure?control\LateralControlPurePursuit_grt_rtw\mlEnv.txt
?????文件??????????33??2019-05-19?15:16??pure?control\LateralControlPurePursuit_grt_rtw\modelsources.txt
?????文件???????17345??2019-05-19?15:16??pure?control\LateralControlPurePursuit_grt_rtw\multiword_types.h
?????文件????????3323??2019-05-19?15:16??pure?control\LateralControlPurePursuit_grt_rtw\rtGetInf.c
?????文件?????????841??2019-05-19?15:16??pure?control\LateralControlPurePursuit_grt_rtw\rtGetInf.h
?????文件????????1993??2019-05-19?15:16??pure?control\LateralControlPurePursuit_grt_rtw\rtGetInf.obj
?????文件????????2300??2019-05-19?15:16??pure?control\LateralControlPurePursuit_grt_rtw\rtGetNaN.c
............此處省略670個文件信息