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Feb 23rd, 2018
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  1. %X = [x_r; y_r; x_d; y_d]
  2. f = @(t,X)[v_r*(norm([X(1)-X(3); X(2)-X(4)])>.01);...
  3. 0;...
  4. v_d*(X(1)-X(3))./norm([X(1)-X(3); X(2)-X(4)])*(norm([X(1)-X(3); X(2)-X(4)])>.01);...
  5. v_d*(X(2)-X(4))./norm([X(1)-X(3); X(2)-X(4)])*(norm([X(1)-X(3); X(2)-X(4)])>.01)];
  6.  
  7. [tout, xout] = ode45(f,[0 T],x0);
  8.  
  9. delta = sqrt((xout(:,1)-xout(:,3)).^2+(xout(:,2)-xout(:,4)).^2);
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