precalcu.m

多智能体工具包

function precalcu
% PRECALCU	Pre-calculation of some parameters.

%     Copyright (c) 1998-2000 Jiming Liu and Jianbing Wu

global MinInterval RegionNum RobotSize ObjectSize ObjectShape;

if ObjectShape==1
  HalfAngle=atan(RobotSize(1)/2/ObjectSize);
  WholeAngle=2*HalfAngle;
  
  DeltaAngle=2*pi/RegionNum;
  MinInterval=ceil(WholeAngle/DeltaAngle);

elseif ObjectShape==2
  MinInterval=4;

end;