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| Longeur=length(T1);
moitie=ceil(Longeur/2);
ax = radtodeg(Tetha1(4,1));
for k=moitie:Longeur
for i=1:nb_vehicule
% Tracer de la courbe
Centre = [VEH(k-2,1,i),VEH(k-2,2,i),0];
Point1 = [VEH(k,1,i),VEH(k,2,i),0];
angle(i) = radtodeg(Tetha1(k-2,i));
res=2*angle(i);
% Tracer de la premiére droite
tl = makehgtform('translate',Centre);
trot = makehgtform('zrotate',angle(i)*pi/180);
Point2 = tl * trot * inv(tl) * [Point1,1]';
Point2 = Point2(1:3);
% Tracer de la deuxieme droite
tl = makehgtform('translate',Centre);
trot = makehgtform('zrotate',-angle(i)*pi/180);
Point3 = tl * trot * inv(tl) * [Point1,1]';
Point3 = Point3(1:3);
% affichage des courbe
figure(1);
plot([Centre(1),Point1(1)],[Centre(2),Point1(2)],'b')
hold on
plot([Centre(1),Point2(1)],[Centre(2),Point2(2)],'r')
plot([Centre(1),Point3(1)],[Centre(2),Point3(2)],'r')
plot(VEH(k-1,1,i),VEH(k-1,2,i),'.');
axis([100 300 140 350]); |
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