Code covered by the BSD License  

Highlights from
Flocking Algorithm

• flockAlignPnY(P,Y,L,B); Using simple cooridinate translation and rotation we'll align P to Y
• flockBaryCenter(F); This simple function utilazes polygeom
• flockFindRelLocS(Y,F); Find followers location relative to Y
• flockNumOfBots(F);
• flockRank(me,A) inputs: Sx sub group of followers locations
• flockSetY(L,B); input X1Y1, X2Y2
• flockSort(A,L,B)
• flockStep(Ptn, Flwr, Ldr, me)... flockStep is the main loop the follower execute
• polygeom( x, y ) POLYGEOM Geometry of a planar polygon
• flockTest.m
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