function?Theta?=?compute_angle（XXgrrepn）
%X????????????當前位姿
%Xgr??????????目標點、障礙點位姿
%repn?????????障礙數目
%ret??????????目標點、障礙點與X軸夾角
for?i?=?1?:?repn+1
??????deltax?=?Xgr（i1）-X（1）;
??????deltay?=?Xgr（i2）-X（2）;
????r?=?sqrt（deltax^2?+?deltay^2）;?
????
????if?deltax?>=?0?&?deltay?>=?0
????Theta（i）?=?asin（deltay/r）;
????elseif?deltax??0
????Theta（i）?=?pi-asin（deltay/r）;
????elseif?deltax?<=0?&?deltay?<=0
????Theta（i）?=?pi?-?asin（deltay/r）;
????elseif?deltax>0?&deltay<0
????Theta（i）?=?2*pi?+?asin（deltay/r）;
????
?????
?????
????end
end

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件?????????602??2020-11-27?06:07??rengong2\compute_angle.m
?????文件?????????851??2020-11-27?06:07??rengong2\compute_attract.m
?????文件????????2485??2020-11-27?06:07??rengong2\compute_repulsion.m
?????文件????????2085??2020-11-27?06:07??rengong2\main.m