/home/martin/Documents/robotika/robotics_labs/exercises/lab03/hough_lines

θ

r

J = (0, 26)
I = (-20, 0)
l = Line(I, J)
r_{1} = 1 (slider from -5 to 5)
C = Intersect(xAxis, yAxis)
E = Point(xAxis)
A = Point(l)
c = Circle(A, 1)
B = Point(c)
f = Line(B, A)
g = OrthogonalLine(C, f)
D = Intersect(f, g)
θ = Angle(E, C, D)
r = Segment(C, D)
F: (θ, r)
h = OrthogonalLine(F, xAxis)
i = OrthogonalLine(F, yAxis)
G = Intersect(i, yAxis)
H = Intersect(h, xAxis)
j = Segment(G, F)
k = Segment(H, F)
m = OrthogonalLine(C, l)
K = Intersect(l, m)
n = Segment(K, C)
α = Angle(E, C, K)
X: (α, n)