. p(x,z) 



jth segment 



Vl (x o j+ l' Z o j+ !> 



q j (X oj' Z oj ) 



> oj + 1 oj / 



2 2 2 ? 



r, = pq, = (x-x .) + (z-z .) 

 J J oj oj 



j+1 ■ Plj + i - (x -*o j + l )2 + ( *- Z oi + l )2 



8. = tan 



J 



N OJ+1 ' 



Figure 8 - Notations for Equation (70) 



35 



