Path: FormationFlying/Collision
% Computes the minimum distance between two ellipsoids. Performs an SVD of the ellipsoid matrix. -------------------------------------------------------------------------- Form: [d,x1,x2,iter,di,x1i,x2i,iter] = MinDEllipsoid(P1,xc1,P2,xc2); -------------------------------------------------------------------------- ------ Inputs ------ P1 (3,3) Ellipsoid #1 matrix xc1 (3,1) Ellipsoid #1 center P2 (3,3) Ellipsoid #2 matrix xc2 (3,1) Ellipsoid #2 center ------- Outputs ------- d (1) Minimum distance x1 (3,1) Closest point on ellipsoid #1 x2 (3,1) Closest point on ellipsoid #2 iter (1) Number of iterations di (1,iter) Minimum distance at each iteration x1i (3,iter) Ellipsoid #1 point at each iteration x2i (3,iter) Ellipsoid #2 point at each iteration err (1) Error in the slope differential at x1 and x2 --------------------------------------------------------------------------
FormationFlying: Collision/DistantPtToEll FormationFlying: Collision/Ellipsoid Common: Graphics/NewFig Common: Transform/Eul2Mat
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