%--------判斷兩個點的連接是否為連通狀態--------------------
function?result?=?Conn（x1y1x2y2）
%----聲明全局----------------------------
global?obstaclesx;
global?obstaclesy;
global?robotv;
%------------------

result?=?true;
theta?=?straightLine（x1y1x2y2）;

%進行半徑為robtov的膨脹
%計算出機器人的四邊形
x?=?robotv*cos（theta）;
y?=?robotv*sin（theta）;
roblinex?=?[x1+xx2+xx2-xx1-xx1+x];
robliney?=?[y1+yy2+yy2-yy1-yy1+y];
%判斷連接處是否有障礙物，有的話返回false

for?i?=?1:size（obstaclesx1）
????%求機器人多邊形和障礙物多邊形是否相交
?
????if?poly_cross（roblinexroblineyobstaclesx（i:）obstaclesy（i:））
????????result?=?false;
????????return;
????end
end

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件?????????702??2020-07-28?02:42??pso_pathplanning\Conn.m
?????文件?????????227??2020-07-28?02:42??pso_pathplanning\convertTopolar.m
?????文件?????????616??2020-07-28?02:42??pso_pathplanning\fitness.m
?????文件????????1762??2020-07-28?02:42??pso_pathplanning\initial.m
?????文件?????????521??2020-07-28?02:42??pso_pathplanning\initialmap.m
?????文件????????1330??2020-07-28?02:42??pso_pathplanning\initX.m
?????文件?????????462??2020-07-28?02:42??pso_pathplanning\line_cross.m
?????文件????????2486??2020-07-28?02:42??pso_pathplanning\main.m
?????文件?????????693??2020-07-28?02:42??pso_pathplanning\movedone.m
?????文件????????3430??2020-07-28?02:42??pso_pathplanning\pathplanning.m
?????文件?????????195??2020-07-28?02:42??pso_pathplanning\plorTozhijiao.m
?????文件?????????588??2020-07-28?02:42??pso_pathplanning\poly_cross.m
?????文件????????5757??2020-07-28?02:42??pso_pathplanning\PSO.m
?????文件?????????202??2020-07-28?02:42??pso_pathplanning\straightLine.m