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2026-08-20 06:17:39 +08:00
commit 2c814634c3
9429 changed files with 10556013 additions and 0 deletions
--- a/tests/trajectory-planner/circular-arcs/octave/estimate_depth.m
+++ b/tests/trajectory-planner/circular-arcs/octave/estimate_depth.m
@@ -0,0 +1,12 @@
+function depth = estimate_depth(a_limit,v_limit,L_min,dt)
+
+    v_sample= L_min/(2.0*dt);
+    v_max = min(v_sample,v_limit);
+    v = 0;
+    depth = 0;
+    while v<v_max
+        v = sqrt(v^2 + 2*a_limit*L_min);
+        depth+=1;
+    end
+    
+end