+ /* pas trop mal, mais oscille */
+ //new_radius = traj->target.circle.radius - delta_a * delta_d * coef_deriv;
+ if (v2pol_target.r > traj->target.circle.radius/2)
+ new_radius = traj->target.circle.radius - delta_a * delta_d * coef_deriv * traj->target.circle.radius / v2pol_target.r;
+ else
+ new_radius = traj->target.circle.radius - delta_a * delta_d * coef_deriv ;
+
+ /* oscille a mort */
+ //new_radius = traj->target.circle.radius - traj->target.circle.radius * delta_a * delta_a * coef_deriv;
+
+ /* ? */
+ //new_radius = traj->target.circle.radius - traj->target.circle.radius * delta_a * coef_deriv;
+
+