Sweep signed turn lags to find optimal leader-follower lag

Usage

sweep_signed_turn_lags(pts_a, pts_b, times_a, times_b, max_lag = 15L)

Arguments

pts_a: Points matrix for agent A (n_a x 2)
pts_b: Points matrix for agent B (n_b x 2)
times_a: Turn times for agent A
times_b: Turn times for agent B
max_lag: Maximum turn lag to evaluate (default 15)

Examples

times_b <- c(1, 2, 3, 4, 5)
pts_b <- cbind(1:5, 1:5)
times_a <- times_b + 2  # A follows B by two turns
pts_a <- pts_b
res <- sweep_signed_turn_lags(pts_a, pts_b, times_a, times_b, max_lag = 4L)
res$best_lag  # 2
#> [1] 2
res$mean_distances
#>           [,1]
#>  [1,] 2.828427
#>  [2,] 2.828427
#>  [3,] 2.828427
#>  [4,] 2.545584
#>  [5,] 1.979899
#>  [6,] 1.131371
#>  [7,] 0.000000
#>  [8,] 1.414214
#>  [9,] 2.828427