2

我有 4 个文件，代码按预期“工作”。

我尝试清理所有内容，将代码放入函数等......一切看起来都很好......但它不起作用。有人可以解释为什么 MatLab 如此古怪......还是我只是愚蠢？

通常，我输入

terminator = simulation(100,20,0,0,0,1);
terminator.animate();

它应该生成一张树木地图，终结者在森林中四处走动。一切都以他的视角旋转。

当我把它分解成函数时……一切都停止了。

我真的只更改了几行代码，显示在注释中。

有效的代码：

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

代码不起作用...

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
        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

导航功能是一样的...

对于为什么事情不起作用的任何帮助，我将不胜感激。

我所做的只是从评论中获取第一部分的代码：%Simulation Loop THIS WAS ORGANIZED 并将其分解为 2 个函数。一个在机器人中，一个在地标中。

每次都会创建一个新实例，因为它在机器人类中不断为该行打印相同的标题 obj.heading = obj.heading + headingChange;

4

2 回答 2

1

将您的定义替换为：

classdef landmarks <handle 
classdef robots <handle

然后看看： http: //www.mathworks.com/access/helpdesk/help/techdoc/matlab_oop/brfylq3.html

于 2010-05-07T20:45:51.763 回答
1

我给你一个解释。

默认情况下，当您在 MATLAB 对象上调用方法时，框架会创建该对象的副本并在此副本上调用该方法。这是与 C++ 完全不同的范例。在 C++ 中，当您调用对象的方法时，您是在对该对象实例的引用上调用该方法。

所以，当你打电话

obj.robot.updatePosition(headingChange);

它正在创建机器人对象的新副本，并在此副本上调用 updatePosition。原机器人的状态保持不变。

使用句柄的另一种方法是编写如下代码：

obj.robot = obj.robot.updatePosition(headingChange);

另一种方法是使 che 类继承自句柄。在这种情况下，每个复制操作都会复制对类的引用，而不是实例，这就是更新函数更改实际对象状态的原因。

于 2010-05-09T23:23:17.927 回答