plot3(Obs(1,2:8),Obs(2,2:8),Obs(3,2:8),'o');hold on; plot3(Obs(1,1),Obs(2,1),Obs(3,1),'O'); plot3(P(1,1:K),P(2,1:K),P(3,1:K),'.b');
时间: 2023-10-14 10:07:07 浏览: 49
这是一段 MATLAB 代码,通过 plot3 函数绘制了三维空间中的数据点和一个大圆点。具体来说,代码中的 Obs 变量包含了一组三维数据点,其中第一个点用大圆点表示,其余点用小圆点表示。P 变量也是一组三维数据点,用蓝色的小圆点表示。这段代码的作用可能是将两组数据点在三维空间中可视化,方便观察它们之间的关系。
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plot3(Obs(1,2:8),Obs(2,2:8),Obs(3,2:8),'o');hold on;
这行代码使用了MATLAB的plot3函数,它会在3D坐标系中绘制一组点。具体来说,这里绘制了一个三维散点图,其中x轴、y轴和z轴分别由Obs矩阵的第1行、第2行和第3行表示。这里的参数'o'表示绘制圆点,hold on则表示在绘制完这组点后保持图形窗口的状态,以便后续可以在同一窗口中添加新的图形元素。
帮我翻译下面这段话 %% 初始化 % 最大迭代次数 RRTCountMax = 30000; APFCountMax = 30000; % 地图范围 mapLimit = [0, 10, 0, 10]; % 步长 RRTstep = 0.1; APFstep = 0.007; % 起始点、目标点 % select = 5; starts = [1, 5; 1, 1; 1, 9; 1, 3; 4,4]; targets = [9, 4; 9,9; 9, 1; 5, 9; 9,8]; select = 1; start = starts(select, :); target = targets(select, :); % 障碍物 x y r obs = [ 3.5, 3.1, 0.3; 2.5, 5.5, 0.5; 5.2, 6.6, 0.4; 6.8, 4.5, 0.7; 7.4, 7.1, 0.5; 5.1, 4.8, 0.3; 3.2, 8.8, 0.5; 6.7, 8.9, 0.3; 6.2, 1.8, 0.2; 9.1, 5.6, 0.3 ]; % kAttr, kRep kAttr = 1; kRep = 5; kObs = 3; axis(mapLimit); hold on; cla; for i = 1: size(obs, 1) rectangle('Position', [obs(i,1)-obs(i,3), obs(i,2)-obs(i,3), obs(i,3) * 2, obs(i,3) * 2], 'Curvature', [1 1]); end plot(start(1), start(2), '.', 'markersize',30, 'color','red'); plot(target(1), target(2), '.', 'markersize',30, 'color','green'); % ok = false; result = []; while ~ok ok = true; rrt_result = RRTstar(mapLimit, start, target, obs, RRTstep, RRTCountMax); if isempty(rrt_result) disp("rrt star cannot find path") return end if size(rrt_result, 1) == 1 disp('start == target') return end plot(rrt_result(:, 1), rrt_result(:, 2), '-', 'color','blue'); for i = 30000: size(rrt_result, 1) apf_start = rrt_result(i - 1, :); apf_target = rrt_result(i, :); [apf_result, success, newStart, count, obs] = APF(mapLimit, start, target,apf_start, apf_target, obs, APFstep, APFCountMax, kAttr, kRep, kObs); result = [result; apf_result]; if (success == false) ok = false; start = newStart; break; end end end plot(result(:, 1), result(:, 2), '.', 'color','red');
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