# vb.net read usb barcode scanner FIGURE 9.5b The robot is about to approach the extended borderline. in Software Draw QR-Code in Software FIGURE 9.5b The robot is about to approach the extended borderline.

FIGURE 9.5b The robot is about to approach the extended borderline.
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A line de ned by the previous equation has in nite length. When we derived the equation for the boundary lines we did so to enable the above calculation, however, even though the in nite line may intersect the circle (Line B in Fig. 9.5a and also as in Fig. 9.5b), the segment that we are interested in (the actual boundary line) may not do so. It is necessary to check further to see if the intercept between the line and the circle is actually within the segment being considered. This is accomplished by checking to see if the calculated intercept x-coordinates are within the x-coordinates of the two points that de ne the line-segment. If both calculated intercept x-coordinates are outside the boundary line-segment then the boundary line does not intersect the circle even though its in nite extension does, as is about to occur in Fig. 9.5b (see the Line 47 in Fig. 9.6). Figure 9.6 shows how all of the above can be implemented in code. The math can be a little complex, but once the nal equations have been developed, the implementation is fairly straightforward.
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15 18 19 20 22 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54
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//====================================================== TestViolation: Violation = false rGPS Rx,Ry for j = 1 to MaxDim(Boundary,1)/2 -1 //--for each line mm = (j-1)*2 X1 = Boundary[mm] Y1 = Boundary[mm+1] X2 = Boundary[mm+2] Y2 = Boundary[mm+3] If j=1 then X1 = -X1 //due to MPolygon specs //--Line formula Y = mX+b m = 1.0*(Y2-Y1)/(X2-X1) b = Y1-m*X1 //--quadratic X=(-B+Sqrt(B*B-4*A*c))/2/A //-X=(-B-Sqrt(B*B-4*A*c))/2/A //--if there is a solution then the //--circle and line intersect (possibly) A = 1+m^2 B = 2*m*(b-Ry)-2*Rx C = Rx^2+(b-Ry)^2-625 //625=(20+5)^2 BB = B^2-4*A*C if (BB) >= 0 BB = Sqrt(BB) XX1 = (-B+BB)/2/A //--first intercept XX2 = (-B-BB)/2/A //--second intercept //--check if intercept is actual //--not on extended line if Within(XX1,X1,X2) OR Within(XX2,X1,X2) Violation = true break //no need to check any more boundary lines endif endif next Return //======================================================
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FIGURE 9.6 GPS con nement part II (line numbering starts at 15 there is no missing code).
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Lines 25 to 28 are where we obtain the x, y coordinates of both ends of the line (this will be done for each line that de nes the boundary). Lines 31 to 32 are where we calculate the values m and b. Lines 37 to 39 are where we set the quadratic equation coef cients that will be used to solve the formula. Notice (Line 39) that the value 625 25^2. 25 is the robot s radius (20) plus an added buffer of 5. We write 625 directly so as to save time. This algorithm is very calculations intensive and any time saving we can do (such as this one) would help make the algorithm faster. This is an example of compromise between ef ciency and good programming practice. In good practice we ought to have set a constant for the robot s radius (e.g., R_Radius 20) and a constant for the buffer (e.g., Buffer 5) then we would write Line 39 as:
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C Rx^2 (b Ry)^2 (R_Radius Buffer)^2