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. 2023 Aug 25;23(17):7421. doi: 10.3390/s23177421

Algorithm 2 Orientation alignment

1:
Input: TWDPath, $x_{c}, y_{c}, φ_{c}$
2:
Output: $z_{0}, z_{1}, P_{0}$
3:
$β = a t a n 2 (y_{T_{1}} - y_{c}, x_{T_{1}} - x_{c})$
4:
$γ = | φ_{c} -$ $β |$
5:
$x_{z_{0}} = x_{c} + d_{n e w} \cdot cos (φ_{c})$
6:
$y_{z_{0}} = y_{c} + d_{n e w} \cdot sin (φ_{c})$
7:
if 90° < $γ \leq$ 180° then
8:
$γ = φ_{v} - 90$ °
9:
$x_{P_{0}} = x_{c} + d_{n e w} \cdot cos (γ)$
10:
$y_{P_{0}} = y_{c} + d_{n e w} \cdot sin (γ)$
11:
end if
12:
if 0° < $γ \leq$ 45° then
13:
$d_{1 + 2} = d_{1} \cdot 1.618$
14:
else if 45° < $γ \leq$ 90° then
15:
$d_{1 + 2} = d_{1} \cdot 1 . 618^{2}$
16:
end if
17:
$x_{z_{1}} = x_{c} + d_{1 + 2} \cdot cos (β)$
18:
$y_{z_{1}} = y_{c} + d_{1 + 2} \cdot sin (β)$