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The Dubins' path gives the shortest path joining two oriented points that is feasible for the wheeled-robot model. The optimal path type can be described using an analogy with cars of making a 'right turn (R)', 'left turn (L)' or driving 'straight (S).' An optimal path will always be at least one of the six types: RSR, RSL, LSR, LSL, RLR, LRL.
The distance (or perpendicular distance) from a point to a line is the shortest distance from a fixed point to any point on a fixed infinite line in Euclidean geometry. It is the length of the line segment which joins the point to the line and is perpendicular to the line. The formula for calculating it can be derived and expressed in several ways.
A straight line can intersect a circle at zero, one, or two points. A line with intersections at two points is called a secant line, at one point a tangent line and at no points an exterior line. A chord is the line segment that joins two distinct points of a circle. A chord is therefore contained in a unique secant line and each secant line ...
the distance between the two lines is the distance between the two intersection points of these lines with the perpendicular line y = − x / m . {\displaystyle y=-x/m\,.} This distance can be found by first solving the linear systems
For two non-parallel line segments (,), (,) and (,), (,) there is not necessarily an intersection point (see diagram), because the intersection point (,) of the corresponding lines need not to be contained in the line segments. In order to check the situation one uses parametric representations of the lines:
The same reciprocal relation exists between a point P outside the circle and the secant line joining its two points of tangency. If a point P is exterior to a circle with center O, and if the tangent lines from P touch the circle at points T and S, then ∠TPS and ∠TOS are supplementary (sum to 180°).
Geometric join of two line segments.The original spaces are shown in green and blue. The join is a three-dimensional solid, a disphenoid, in gray.. In topology, a field of mathematics, the join of two topological spaces and , often denoted by or , is a topological space formed by taking the disjoint union of the two spaces, and attaching line segments joining every point in to every point in .
First we consider the intersection of two lines L 1 and L 2 in two-dimensional space, with line L 1 being defined by two distinct points (x 1, y 1) and (x 2, y 2), and line L 2 being defined by two distinct points (x 3, y 3) and (x 4, y 4). [2] The intersection P of line L 1 and L 2 can be defined using determinants.