r_plotsquare.m

多智能体工具包

% R_PLOTSQUARE	Draw square robots.

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


function [FirstArray,SecondArray,ThePoint]=r_plotsquare(ThisObject,ObjectSize)

ObjectPosition=ThisObject(1:2);
ObjectAngle=ThisObject(3);
AccumuAngle=ThisObject(4);

FirstArray=[];
SecondArray=[];

for mm=1:5
  TheAngle=(mm-1)*pi/2+ObjectAngle;
  FirstArray=[FirstArray ObjectPosition(1)+ObjectSize/sqrt(2)*cos(TheAngle)];
  SecondArray=[SecondArray ObjectPosition(2)+ObjectSize/sqrt(2)*sin(TheAngle)];
end;

ThePoint(1)=ObjectPosition(1)+ObjectSize/sqrt(2)*cos(AccumuAngle+pi/4);
ThePoint(2)=ObjectPosition(2)+ObjectSize/sqrt(2)*sin(AccumuAngle+pi/4);