给出考虑建筑物高度限制的具体matlab代码

下面是一个考虑建筑物高度限制的matlab代码实现，基于Dijkstra算法：

function [path, total_cost] = dijkstra_with_height(map, start, goal)
% map: 网格地图，0表示可以通过，1表示障碍物
% start: 起点坐标
% goal: 终点坐标
% path: 最短路径，包含起点和终点
% total_cost: 最短路径的总代价

[nrows, ncols] = size(map);
start_idx = sub2ind([nrows, ncols, 2], start(1), start(2), 0);
goal_idx = sub2ind([nrows, ncols, 2], goal(1), goal(2), 0);

% 计算节点之间的距离和高度差的代价
dx = repmat((1:ncols), nrows, 1) - goal(2);
dy = repmat((1:nrows)', 1, ncols) - goal(1);
dist = sqrt(dx.^2 + dy.^2);
height_cost = repmat(map>10, [1, 1, 2]) * Inf;
height_cost(:, :, 1) = 0;

% 计算起点到每个节点的代价
cost = Inf(nrows, ncols, 2);
cost(start_idx) = 0;
visited = false(nrows, ncols, 2);

% 逐步扩展节点
while ~visited(goal_idx)
    % 找到代价最小的节点
    [~, idx] = min(cost(:));
    [current_row, current_col, current_h] = ind2sub([nrows, ncols, 2], idx);
    visited(idx) = true;
    if idx == goal_idx
        break;
    end
    
    % 扩展相邻节点
    for drow = -1:1
        for dcol = -1:1
            if drow==0 && dcol==0
                continue;
            end
            row = current_row + drow;
            col = current_col + dcol;
            if row < 1 || row > nrows || col < 1 || col > ncols
                continue;
            end
            if visited(row, col, current_h+1)
                continue;
            end
            if map(row, col) == 1
                continue;
            end
            
            % 计算到相邻节点的代价
            next_idx = sub2ind([nrows, ncols, 2], row, col, current_h);
            next_cost = cost(idx) + dist(row, col) + height_cost(row, col, current_h+1);
            if next_cost < cost(next_idx)
                cost(next_idx) = next_cost;
                parent(next_idx) = idx;
            end
            
            % 考虑高度差的代价
            if current_h == 0 && map(row, col) > 10
                next_idx = sub2ind([nrows, ncols, 2], row, col, 1);
                next_cost = cost(idx) + dist(row, col) + height_cost(row, col, 2);
                if next_cost < cost(next_idx)
                    cost(next_idx) = next_cost;
                    parent(next_idx) = idx;
                end
            elseif current_h == 1
                next_idx = sub2ind([nrows, ncols, 2], row, col, 0);
                next_cost = cost(idx) + dist(row, col) + height_cost(row, col, 1);
                if next_cost < cost(next_idx)
                    cost(next_idx) = next_cost;
                    parent(next_idx) = idx;
                end
            end
        end
    end
end

% 从终点回溯到起点，构造最短路径
path = [goal_idx];
while path(1) ~= start_idx
    path = [parent(path(1)), path];
end
path = [start_idx, path];
total_cost = cost(goal_idx);

这个代码实现了一个基于Dijkstra算法的求解最短路径的算法，考虑了建筑物高度的限制。具体来说，每个节点的状态定义为一个三元组(x,y,h)，其中(x,y)是节点的坐标，h是无人机在该节点的高度。在扩展节点时，我们要考虑从当前节点到相邻节点的高度差是否超过10米，如果超过则不能移动。在计算代价时，我们要加上高度差的代价。