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我有4個文件，並且代碼'按預期工作'。爲什麼每次都重新初始化這個類？
我嘗試清理所有東西，將代碼放入函數等等，並且一切看起來都很好...並且它不起作用。有人可以解釋爲什麼MatLab是如此古怪......或者我只是愚蠢？
通常情況下，I型
terminator = simulation(100,20,0,0,0,1);
terminator.animate();
，它應該產生地圖樹木終止在森林中走來走去。一切都轉向他的視角。
當我把它分解成功能...一切都停止工作。
我真的只改變了幾行代碼，顯示在註釋中。該工程
代碼：
不起作用classdef simulation
properties
landmarks
robot
end
methods
function obj = simulation(mapSize, trees, x,y,heading,velocity)
obj.landmarks = landmarks(mapSize, trees);
obj.robot = robot(x,y,heading,velocity);
end
function animate(obj)
%Setup Plots
fig=figure;
xlabel('meters'), ylabel('meters')
set(fig, 'name', 'Phil''s AWESOME 80''s Robot Simulator')
xymax = obj.landmarks.mapSize*3;
xymin = -(obj.landmarks.mapSize*3);
l=scatter([0],[0],'bo');
axis([xymin xymax xymin xymax]);
obj.landmarks.apparentPositions
%Simulation Loop THIS WAS ORGANIZED
for n = 1:720,
%Calculate and Set Heading/Location
obj.robot.headingChange = navigate(n);
%Update Position
obj.robot.heading = obj.robot.heading + obj.robot.headingChange;
obj.landmarks.heading = obj.robot.heading;
y = cosd(obj.robot.heading);
x = sind(obj.robot.heading);
obj.robot.x = obj.robot.x + (x*obj.robot.velocity);
obj.robot.y = obj.robot.y + (y*obj.robot.velocity);
obj.landmarks.x = obj.robot.x;
obj.landmarks.y = obj.robot.y;
%Animate
set(l,'XData',obj.landmarks.apparentPositions(:,1),'YData',obj.landmarks.apparentPositions(:,2));
rectangle('Position',[-2,-2,4,4]);
drawnow
end
end
end
end
-----------
classdef landmarks
properties
fixedPositions %# positions in a fixed coordinate system. [ x, y ]
mapSize = 10; %Map Size. Value is side of square
x=0;
y=0;
heading=0;
headingChange=0;
end
properties (Dependent)
apparentPositions
end
methods
function obj = landmarks(mapSize, numberOfTrees)
obj.mapSize = mapSize;
obj.fixedPositions = obj.mapSize * rand([numberOfTrees, 2]) .* sign(rand([numberOfTrees, 2]) - 0.5);
end
function apparent = get.apparentPositions(obj)
%-STILL ROTATES AROUND ORIGINAL ORIGIN
currentPosition = [obj.x ; obj.y];
apparent = bsxfun(@minus,(obj.fixedPositions)',currentPosition)';
apparent = ([cosd(obj.heading) -sind(obj.heading) ; sind(obj.heading) cosd(obj.heading)] * (apparent)')';
end
end
end
----------
classdef robot
properties
x
y
heading
velocity
headingChange
end
methods
function obj = robot(x,y,heading,velocity)
obj.x = x;
obj.y = y;
obj.heading = heading;
obj.velocity = velocity;
end
end
end
----------
function headingChange = navigate(n)
%steeringChange = 5 * rand(1) * sign(rand(1) - 0.5); Most chaotic shit
%Draw an S
if n <270
headingChange=1;
elseif n<540
headingChange=-1;
elseif n<720
headingChange=1;
else
headingChange=1;
end
end
代碼...
classdef simulation
properties
landmarks
robot
end
methods
function obj = simulation(mapSize, trees, x,y,heading,velocity)
obj.landmarks = landmarks(mapSize, trees);
obj.robot = robot(x,y,heading,velocity);
end
function animate(obj)
%Setup Plots
fig=figure;
xlabel('meters'), ylabel('meters')
set(fig, 'name', 'Phil''s AWESOME 80''s Robot Simulator')
xymax = obj.landmarks.mapSize*3;
xymin = -(obj.landmarks.mapSize*3);
l=scatter([0],[0],'bo');
axis([xymin xymax xymin xymax]);
obj.landmarks.apparentPositions
%Simulation Loop
for n = 1:720,
%Calculate and Set Heading/Location
%Update Position
headingChange = navigate(n);
obj.robot.updatePosition(headingChange);
obj.landmarks.updatePerspective(obj.robot.heading, obj.robot.x, obj.robot.y);
%Animate
set(l,'XData',obj.landmarks.apparentPositions(:,1),'YData',obj.landmarks.apparentPositions(:,2));
rectangle('Position',[-2,-2,4,4]);
drawnow
end
end
end
end
-----------------
classdef landmarks
properties
fixedPositions; %# positions in a fixed coordinate system. [ x, y ]
mapSize; %Map Size. Value is side of square
x;
y;
heading;
headingChange;
end
properties (Dependent)
apparentPositions
end
methods
function obj = createLandmarks(mapSize, numberOfTrees)
obj.mapSize = mapSize;
obj.fixedPositions = obj.mapSize * rand([numberOfTrees, 2]) .* sign(rand([numberOfTrees, 2]) - 0.5);
end
function apparent = get.apparentPositions(obj)
%-STILL ROTATES AROUND ORIGINAL ORIGIN
currentPosition = [obj.x ; obj.y];
apparent = bsxfun(@minus,(obj.fixedPositions)',currentPosition)';
apparent = ([cosd(obj.heading) -sind(obj.heading) ; sind(obj.heading) cosd(obj.heading)] * (apparent)')';
end
function updatePerspective(obj,tempHeading,tempX,tempY)
obj.heading = tempHeading;
obj.x = tempX;
obj.y = tempY;
end
end
end
-----------------
classdef robot
properties
x
y
heading
velocity
end
methods
function obj = robot(x,y,heading,velocity)
obj.x = x;
obj.y = y;
obj.heading = heading;
obj.velocity = velocity;
end
function updatePosition(obj,headingChange)
obj.heading = obj.heading + headingChange;
tempy = cosd(obj.heading);
tempx = sind(obj.heading);
obj.x = obj.x + (tempx*obj.velocity);
obj.y = obj.y + (tempy*obj.velocity);
end
end
end
的導航功能是一樣的...
我希望得到任何幫助來爲什麼事情不起作用。
我所做的只是從第一部分的代碼中摘錄下來：％Simulation Loop THIS WAS ORGANIZED並將其分解爲2個函數。一個在機器人和一個在地標。
是每次創建的新實例，因爲它不斷爲此行打印相同的標題int機器人類 obj.heading = obj.heading + headingChange;
製造這兩個簡單的變化和現在：兩個輸入數組的 非單尺寸必須在==>的地標>在21 表觀= bsxfun（@minus，（landmarks.get.apparentPositions物鏡彼此 錯誤匹配.fixedPositions） 'currentPosition）'; Matlab似乎來自C++的古怪奇特。 – 2010-05-07 21:40:05
我不知道爲什麼事情開始奏效，他們做到了。典型的Matlab ...或者我。 – 2010-05-07 22:28:53