| 摘要 |
PURPOSE:To decide a direction by a small number of times of an arithmetic operation, and to remarkably shorten the processing time by adopting a prescribed parameter, and obtaining the information of the direction from calculating this parameter. CONSTITUTION:First of all, center-of-gravity coordinates xG, yG and an inclination theta in a visual angle coordinate system XOY are calculated. In case of only these two information, two kinds of attitudes as shown by a full line and a broken line, respectively exist. Therefore, in order to obtain the information of a direction, R and (n) are set to prescribed values, and subsequently, coordinates xa0, ya0 of a0 and coordinates xb0, yb0 of b0 are drawn out of a table which has been generated in advance. Subsequently, distances Ga0, Gb0 from the center of gravity are derived, and from its result, R0 is derived, and also, R is derived. Whether a value of this calculated R is R<0.9 or R>1.1 is checked, and in case of R<0.9, it is decided to be a direction as shown by the full line, and in case of R>1.1, it is decided to be a direction as shown by the broken line, and in case of 0.9<=R<=1.1, (n) is updated, and by executing the same process, a loop is repeated until R<0.9 or R>1.1 is obtained. In such way, the processing time can be shortened remarkably.
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