- /* 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;
-
-