montage_formula.md

• The areas in the filed are divided into three parts：
  • 1. once dected
  • 2. twice dected
  • 3. four-times dected

refering to the picture below.

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• The expression of ball position are shown respectively:

  • symbols description:

    In zone_2, d stands for the vertical width of the strip domain

    In zone_2, d_k (k can be a,b,c or d) stands for the vertical length from area_k to the ball

    In zone_3, c_k (k can be a,b,c or d) stands for the diagnoal length from the angle of area_k to the ball

  • zone 1: ball.pos = ball.pos_a

  • zone 2: ball.pos = [ball.pos_a * (d - d_a) + ball.pos_b * d_a]/d

  • zone 3: ball.pos = [ball.pos_a * (1.414d - c_a) + ball.pos_b * (1.414d - c_b) + ball.pos_c * (1.414d - c_c) + ball.pos_d * (1.414d - c_d)]/[5.657d-(d_a+d_b+d_c+d_d)]