Figure 5

Discretization of the distance constraints. An example of discretization of the distance d _i,i−3. The solid circle represents the result of the intersection of the spheres centered in i−1,i−2 with radii d _i,i−1,d _i,i−2, respectively. The distance d _i,i−3 is discretized accordingly to Equation 2 with b=5: dotted circles represent the intersections of spheres centered in i−3 with radii in \(\tilde d_{i}\) with the plane containing the i−3,i−2 and i−1. Thick gray arcs represent the feasible regions for the atom i.