解释下这段代码delta_s=[0.2;0.21;0.22;0.23;0.24;0.25;0.26;0.27;0.28;0.29;0.3;0.31;0.32;0.33;0.34;0.35;0.36;0.37]; %向共享储能电站售电的价格 t_list = zeros(size(delta_s)); % 对应的t值 for i = 1:length(delta_s) delta = delta_s(i); B1=(sum(delta_s.*P_ess_s(1,:))+sum(delta_s.*P_ess_s(1,:)))*365;%年卖弃光收益 C0=(sum(gamma.*P_load(1,:))+sum(gamma.*P_load(2,:)))*365; %年用户群不使用储能的情况下从电网购电费用(不是很懂) C1=(sum(gamma.*P_grid(1,:))+sum(gamma.*P_grid(2,:)))*365; %年用户群从电网购电费用 C2=(sum(delta.*P_ess_b(1,:))+sum(delta.*P_ess_b(2,:)))*365; %年用户群从储能电站购电 Copr=72*sum(P_max);%年运维成本 Cinv = @(t) (t==1)*(1000*sum(P_max)+1100*sum(E_max)); % 在t=1时为f(t),否则为0 max_t = -1; max_v = -Inf; for t = 1:20 V_t = sum((1+g).^(1:t)./(1+i0).^(1:t)*(B1+C0-Cinv(1:t)-C1-C2-Copr)); if V_t >0 if max_t == -1 % 第一次发现 V_t 大于0 max_t = t; % 记录最初的年份 max_v = V_t; end end end t_list(i) = max_t; end disp(['delta_s = ', num2str(delta_s)]); disp(['净现值大于0的最初年份为: ', num2str(t_list)],' 年');

时间: 2024-04-28 21:27:08 浏览: 9
这段代码主要是用来计算共享储能电站售电价格 delta_s 对应的净现值大于 0 的最初年份。具体实现步骤如下: 1. 定义共享储能电站售电价格 delta_s 和对应的 t 值。 2. 对每个 delta_s,计算相关的年度收益和成本,包括卖弃光收益、用户群不使用储能的情况下从电网购电费用、用户群从电网购电费用、用户群从储能电站购电费用、年运维成本等。 3. 定义投资成本函数 Cinv,计算在不同年份的投资成本。 4. 对于每个 delta_s,从 t=1 开始逐年计算净现值 V_t,直到 V_t 不再大于 0。记录最初的年份和对应的净现值。 5. 输出每个 delta_s 对应的净现值大于 0 的最初年份。 总的来说,这段代码主要是用来优化共享储能电站售电价格 delta_s,使得在最初的年份净现值大于 0。
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修改这段代码,是每一个delta_s的值输出一个对应的t,在把输出的t带入P_t得到对应的动态回收期 delta_s=[0.1:0.02:0.37]; %向共享储能电站售电的价格[0.2 0.21 0.22 0.23 0.24 0.25 0.26 0.27 0.28 0.29 0.3 0.31 0.32 0.33 0.34 0.35 0.36 0.37] t_list = zeros(size(delta_s)); % 对应的t值 for i=1:length(delta_s);%1:length(delta_s) delta_1 = delta_s(i); B1=(sum(delta_1.*P_ess_s(1,:))+sum(delta_1.*P_ess_s(2,:)))*365;%年卖弃光收益 B2(i)=B1; C0=(sum(gamma.*P_load(1,:))+sum(gamma.*P_load(2,:)))*365; %年用户群不使用储能的情况下从电网购电费用(不是很懂) C1=(sum(gamma.*P_grid(1,:))+sum(gamma.*P_grid(2,:)))*365; %年用户群从电网购电费用 C2=(sum(delta.*P_ess_b(1,:))+sum(delta.*P_ess_b(2,:)))*365; %年用户群从储能电站购电 Copr=72*sum(P_max);%年运维成本 Cinv = @(t) (t==1)*(1000*sum(P_max)+1100*sum(E_max)); % 在t=1时为f(t),否则为0 max_t = -1; max_v = -Inf; for t = 1:20 V_t = sum(((1+g).^(1:t)./(1+i0).^(1:t)).*(B1+C0-Cinv(1:t)-C1-C2-Copr));%净现值 V_t = sum(((1+g).^(1:t)./(1+i0).^(1:t))*(B1+C0-Cinv(1:t)-C1-C2-Copr)); if V_t >0 if max_t == -1 % 第一次发现 V_t 大于0 max_t = t; % 记录最初的年份 max_v = V_t; end end end t_list(i) = max_t; for t=1:max_t P_t =t-1+((sum(1+g).^(1:t)./(1+i0).^(1:t)).*(B1+C0-Cinv(1:t)-C1-C2-Copr))/(((1+g).^max_t./(1+i0).^max_t).*(B1+C0-Cinv(1:t)-C1-C2-Copr));%动态回收期 end end disp(['delta_s = ', num2str(delta_s)]); disp(['净现值大于0的最初年份为: ', num2str(t_list),' 年']); disp(['动态回收期为: ', num2str(P_t),' 年']);

修改后的代码如下: delta_s=[0.1:0.02:0.37]; %向共享储能电站售电的价格[0.2 0.21 0.22 0.23 0.24 0.25 0.26 0.27 0.28 0.29 0.3 0.31 0.32 0.33 0.34 0.35 0.36 0.37] t_list = zeros(size(delta_s)); % 对应的t值 P_t_list = zeros(size(delta_s)); % 对应的动态回收期 for i=1:length(delta_s) delta_1 = delta_s(i); B1=(sum(delta_1.*P_ess_s(1,:))+sum(delta_1.*P_ess_s(2,:)))*365;%年卖弃光收益 B2(i)=B1; C0=(sum(gamma.*P_load(1,:))+sum(gamma.*P_load(2,:)))*365; %年用户群不使用储能的情况下从电网购电费用 C1=(sum(gamma.*P_grid(1,:))+sum(gamma.*P_grid(2,:)))*365; %年用户群从电网购电费用 C2=(sum(delta.*P_ess_b(1,:))+sum(delta.*P_ess_b(2,:)))*365; %年用户群从储能电站购电 Copr=72*sum(P_max);%年运维成本 Cinv = @(t) (t==1)*(1000*sum(P_max)+1100*sum(E_max)); % 在t=1时为f(t),否则为0 max_t = -1; max_v = -Inf; for t = 1:20 V_t = sum(((1+g).^(1:t)./(1+i0).^(1:t)).*(B1+C0-Cinv(1:t)-C1-C2-Copr));%净现值 if V_t >0 if max_t == -1 % 第一次发现 V_t 大于0 max_t = t; % 记录最初的年份 max_v = V_t; end end end t_list(i) = max_t; P_t = 0; for t=1:max_t P_t =t-1+((sum(1+g).^(1:t)./(1+i0).^(1:t)).*(B1+C0-Cinv(1:t)-C1-C2-Copr))/(((1+g).^max_t./(1+i0).^max_t).*(B1+C0-Cinv(1:t)-C1-C2-Copr));%动态回收期 end P_t_list(i) = P_t; disp(['delta_s = ', num2str(delta_s(i))]); disp(['净现值大于0的最初年份为: ', num2str(t_list(i)),' 年']); disp(['动态回收期为: ', num2str(P_t),' 年']); end

优化这段代码:import math # 定义一个测试栅格划的经纬度 test_lon = 114 test_lat = 22.5 # 划定栅格划分范围 min_lon = 113.75194 max_lon = 114.624187 min_lat = 22.447837 max_lat = 22.864748 # 定义栅格大小(单位m) accuracy = 500 # 计算栅格的经纬度增加量大小 delta_lon = accuracy * 360 / (2 * math.pi * 6371004 * math.cos((min_lat + max_lat) * math.pi / 360)) delta_lat = accuracy * 360 / (2 * math.pi * 6371004) # 计算栅格的经纬度编号 lon_col = (test_lon - (min_lon - delta_lon / 2)) // delta_lon lat_col = (test_lat - (min_lat - delta_lat / 2)) // delta_lat # 计算栅格的中心点经纬度 half_delta_lon = delta_lon / 2 half_delta_lat = delta_lat / 2 hb_lon = lon_col * delta_lon + min_lon - half_delta_lon hb_lat = lat_col * delta_lat + min_lat - half_delta_lat print(lon_col, lat_col, hb_lon, hb_lat, delta_lon, delta_lat)

这段代码的目的是将给定的经纬度划分到以 `accuracy` 为大小的栅格中,然后计算出栅格的中心点经纬度。以下是一些代码优化的建议: 1. 可以将常用的参数值保存在变量中,以便多次使用。例如,可以将栅格划分范围和栅格大小保存在变量中,然后在计算经纬度增量和栅格编号时使用这些变量。 2. 可以使用更具描述性的变量名,以便更容易理解代码的功能。例如,可以将 `lon_col` 改为 `longitude_index`,将 `hb_lon` 改为 `center_longitude`。 3. 可以使用更简洁的语法来计算经纬度增量和栅格编号。例如,可以使用 `numpy` 库的 `arange()` 方法生成等差数组,然后使用 `numpy` 库的 `digitize()` 方法将经纬度划分到栅格中。 4. 可以使用文档字符串来解释代码的功能和参数,以便更易读和维护。 下面是优化后的代码示例: ``` import math import numpy as np # 设置常用参数 min_longitude = 113.75194 max_longitude = 114.624187 min_latitude = 22.447837 max_latitude = 22.864748 accuracy = 500 def get_grid_center_point(lon, lat, accuracy): """ 将给定的经纬度划分到以accuracy为大小的栅格中,然后计算出栅格的中心点经纬度。 :param lon: 经度 :param lat: 纬度 :param accuracy: 栅格大小(单位m) :return: 栅格中心点的经纬度 """ # 计算栅格的经纬度增加量大小 delta_lon = accuracy * 360 / (2 * math.pi * 6371004 * math.cos((min_latitude + max_latitude) * math.pi / 360)) delta_lat = accuracy * 360 / (2 * math.pi * 6371004) # 计算栅格的经纬度编号 longitude_index = np.arange(min_longitude, max_longitude, delta_lon) latitude_index = np.arange(min_latitude, max_latitude, delta_lat) lon_col = np.digitize(lon, longitude_index) - 1 lat_col = np.digitize(lat, latitude_index) - 1 # 计算栅格的中心点经纬度 half_delta_lon = delta_lon / 2 half_delta_lat = delta_lat / 2 center_longitude = lon_col * delta_lon + min_longitude - half_delta_lon center_latitude = lat_col * delta_lat + min_latitude - half_delta_lat return center_longitude, center_latitude # 调用函数计算栅格中心点经纬度 test_lon = 114 test_lat = 22.5 center_lon, center_lat = get_grid_center_point(test_lon, test_lat, accuracy) # 打印结果 print(center_lon, center_lat) ``` 使用 `numpy` 库的 `arange()` 方法生成等差数组,然后使用 `numpy` 库的 `digitize()` 方法将经纬度划分到栅格中,从而使代码更简洁和易读。同时,添加了文档字符串来解释函数的功能和参数。

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clear all; clc; du = pi/180; L1(1) = Link('theta', 90*du+0.02, 'a', 0+0.001, 'alpha', 0+0.003, 'qlim', [180, 365], 'modified'); L1(2) = Link('d', 0+0.001, 'a', 185+0.0079, 'alpha', 0+0.001, 'qlim', [3*du, 63*du], 'modified'); L1(3) = Link('d', 90+0.005, 'a', 0+0.005, 'alpha', pi/2+0.005, 'qlim', [60*du, 120*du], 'modified'); L1(4) = Link('theta', 0, 'a', 120+0.12, 'alpha', pi/2, 'qlim', [230, 326], 'modified'); L1(3).theta = L1(3).theta + 0.023; L1(4).theta = L1(4).theta + 0.08; Needle = SerialLink(L1, 'name', 'Needle'); a = [0+0.001, 185+0.0079, 0+0.005, 120+0.12]; alpha = [0+0.003, 0+0.001, pi/2+0.005, pi/2]; d = [0+0.001, 90+0.005, 0+0.005, 0]; theta = [90*du+0.02, 0, L1(3).theta, L1(4).theta]; beta = zeros(1, 4); T1 = DH(1, a(1), alpha(1), d(1), theta(1)+beta(1)); T2 = DH(2, a(2), alpha(2), d(2), theta(2)+beta(2)); T3 = DH(3, a(3), alpha(3), d(3), theta(3)+beta(3)); T4 = DH(4, a(4), alpha(4), d(4), theta(4)+beta(4)); T = T1*T2*T3*T4; delta_T = diff(T, a)*delta_a; delta_T = diff(T, alpha)*delta_alpha; delta_T = diff(T, d)*delta_d; delta_T = diff(T, theta)*delta_theta; delta_T = diff(T, beta)*delta_beta; delta_a = 0.001; delta_T = zeros(4, 4); for i = 1:4 delta_T = delta_T + diff(T, a(i))*delta_a; end delta_alpha = 0.003; delta_T = zeros(4, 4); for i = 1:4 delta_T = delta_T + diff(T, alpha(i))*delta_alpha; end delta_d = 0.005; delta_T = zeros(4, 4); for i = 1:4 delta_T = delta_T + diff(T, d(i))*delta_d; end delta_theta = 0.02*du; delta_T = zeros(4, 4); for i = 1:4 delta_T = delta_T + diff(T, theta(i))*delta_theta; end delta_beta = 0.0; delta_T = zeros(4, 4); for i = 1:4 delta_T = delta_T + diff(T, beta(i))*delta_beta; end q = [90*du, 0, L1(3).theta, L1(4).theta]; T = Needle.fkine(q); pos = T(1:3, 4) euler = tr2eul(T, 'ZYX')/du delta_pos = delta_T(1:3, 4) delta_euler = tr2eul(delta_T, 'ZYX')/du这段代码运行不出来显示T超出数组元素

clear all; clc; du = pi/180; a = [0+0.001, 185+0.0079, 0+0.005, 120+0.12]; alpha = [pi/2+0.003, 0+0.001, pi/2+0.005, pi/2]; d = [0+0.001, 0+0.0079, 90+0.005, 0+0.12]; theta = [90du+0.02, 0, 0.023, 0.08]; beta = zeros(1, 4)+0; L1(1) = Link('d', d(1), 'a', a(1), 'alpha', alpha(1), 'qlim', [180du, 365du], 'modified'); L1(2) = Link('d', d(2), 'a', a(2), 'alpha', alpha(2), 'qlim', [3du, 63du], 'modified'); L1(3) = Link('d', d(3), 'a', a(3), 'alpha', alpha(3), 'qlim', [60du, 120du], 'modified'); L1(4) = Link('d', d(4), 'a', a(4), 'alpha', alpha(4), 'qlim', [230du, 326du], 'modified'); Needle = SerialLink(L1, 'name', 'Needle'); T1 = DH(1, a(1), alpha(1), d(1), theta(1)+beta(1)); T2 = DH(2, a(2), alpha(2), d(2), theta(2)+beta(2)); T3 = DH(3, a(3), alpha(3), d(3), theta(3)+beta(3)); T4 = DH(4, a(4), alpha(4), d(4), theta(4)+beta(4)); T = T1T2T3T4; delta_a = 0.001; delta_T = zeros(4, 4); for i = 1:4 delta_T = delta_T + diff(T, a(i))*delta_a; end delta_alpha = 0.003; for i = 1:4 delta_T = delta_T + diff(T, alpha(i))*delta_alpha; end delta_d = 0.005; for i = 1:4 delta_T = delta_T + diff(T, d(i))delta_d; end delta_theta = 0.02du; for i = 1:4 delta_T = delta_T + diff(T, theta(i))*delta_theta; end delta_beta = 0.0; for i = 1:4 delta_T = delta_T + diff(T, beta(i))*delta_beta; end q = [theta(1), 0, theta(3), theta(4)]; T = Needle.fkine(q); pos = T(1:3, 4); euler = tr2eul(T, 'ZYX')/du; delta_pos = delta_T(1:3, 4); delta_euler = tr2eul(delta_T, 'ZYX')/du;上段代码显示错误使用 diff 差分阶数 N 必须为正整数标量。 出错 ceshi2 (line 28) delta_T = delta_T + diff(T, a(i))*delta_a;

clear all; clc; du = pi/180; a = [0+0.001, 185+0.0079, 0+0.005, 120+0.12]; alpha = [pi/2+0.003, 0+0.001, pi/2+0.005, pi/2]; d = [0+0.001, 0+0.0079, 90+0.005, 0+0.12]; theta = [90*du+0.02, 0, 0.023, 0.08]; beta = zeros(1, 4)+0; L1(1) = Link('d', d(1), 'a', a(1), 'alpha', alpha(1), 'qlim', [180*du, 365*du], 'modified'); L1(2) = Link('d', d(2), 'a', a(2), 'alpha', alpha(2), 'qlim', [3*du, 63*du], 'modified'); L1(3) = Link('d', d(3), 'a', a(3), 'alpha', alpha(3), 'qlim', [60*du, 120*du], 'modified'); L1(4) = Link('d', d(4), 'a', a(4), 'alpha', alpha(4), 'qlim', [230*du, 326*du], 'modified'); Needle = SerialLink(L1, 'name', 'Needle'); T1 = DH(1, a(1), alpha(1), d(1), theta(1)+beta(1)); T2 = DH(2, a(2), alpha(2), d(2), theta(2)+beta(2)); T3 = DH(3, a(3), alpha(3), d(3), theta(3)+beta(3)); T4 = DH(4, a(4), alpha(4), d(4), theta(4)+beta(4)); T = T1 * T2 * T3 * T4; delta_a = 0.001; delta_T = zeros(4, 4); for i = 1:4 delta_T = delta_T + diff(T, a(i), 1) * delta_a; end for i = 1:4 delta_T = delta_T + diff(T, a(i), 1) * delta_a; end delta_alpha = 0.003; for i = 1:4 delta_T = delta_T + diff(T, alpha(i), 1) * delta_alpha; end delta_d = 0.005; for i = 1:4 delta_T = delta_T + diff(T, d(i), 1) * delta_d; end delta_theta = 0.02*du; for i = 1:4 delta_T = delta_T + diff(T, theta(i), 1) * delta_theta; end delta_beta = 0.0; for i = 1:4 delta_T = delta_T + diff(T, beta(i), 1) * delta_beta; end q = [theta(1), 0, theta(3), theta(4)]; T = Needle.fkine(q); pos = T(1:3, 4); euler = tr2eul(T, 'ZYX')/du; delta_pos = delta_T(1:3, 4); delta_euler = tr2eul(delta_T, 'ZYX')/du;错误使用 diff 差分阶数 N 必须为正整数标量。 出错 ceshi (line 21) delta_T = delta_T + diff(T, a(i), 1) * delta_a; 怎么使用这个查分结束N ,一直报错

clear all; clc; du = pi/180; a = [0+0.001, 185+0.0079, 0+0.005, 120+0.12]; alpha = [pi/2+0.003, 0+0.001, pi/2+0.005, pi/2]; d = [0+0.001, 0+0.0079, 90+0.005, 0+0.12]; theta = [90du+0.02, 0, 0.023, 0.08]; beta = zeros(1, 4)+0; L1(1) = Link('d', d(1), 'a', a(1), 'alpha', alpha(1), 'qlim', [180du, 365du], 'modified'); L1(2) = Link('d', d(2), 'a', a(2), 'alpha', alpha(2), 'qlim', [3du, 63du], 'modified'); L1(3) = Link('d', d(3), 'a', a(3), 'alpha', alpha(3), 'qlim', [60du, 120du], 'modified'); L1(4) = Link('d', d(4), 'a', a(4), 'alpha', alpha(4), 'qlim', [230du, 326du], 'modified'); Needle = SerialLink(L1, 'name', 'Needle'); T1 = DH(1, a(1), alpha(1), d(1), theta(1)+beta(1)); T2 = DH(2, a(2), alpha(2), d(2), theta(2)+beta(2)); T3 = DH(3, a(3), alpha(3), d(3), theta(3)+beta(3)); T4 = DH(4, a(4), alpha(4), d(4), theta(4)+beta(4)); T = T1T2T3T4; delta_a = 0.001; delta_T = zeros(4, 4); delta_a = 0.001; delta_T = zeros(4, 4); for i = 1:4 delta_T = delta_T + diff(T, 2, a(i))*delta_a; end delta_alpha = 0.003; for i = 1:4 delta_T = delta_T + diff(T, 2, alpha(i))*delta_alpha; end delta_d = 0.005; for i = 1:4 delta_T = delta_T + diff(T, 2, d(i))delta_d; end delta_theta = 0.02du; for i = 1:4 delta_T = delta_T + diff(T, 1, theta(i))*delta_theta; end delta_beta = 0.0; for i = 1:4 delta_T = delta_T + diff(T, 1, beta(i))*delta_beta; end q = [theta(1), 0, theta(3), theta(4)]; T = Needle.fkine(q); pos = T(1:3, 4); euler = tr2eul(T, 'ZYX')/du; delta_pos = delta_T(1:3, 4); delta_euler = tr2eul(delta_T, 'ZYX')/du;错误使用 diff 维度参数必须是处于索引范围内的正整数标量。 出错 ceshi2 (line 30) delta_T = delta_T + diff(T, 2, a(i))*delta_a;帮我重新该做发出能运行的代码

clear all; clc; du = pi/180; a = [0+0.001, 185+0.0079, 0+0.005, 120+0.12]; alpha = [pi/2+0.003, 0+0.001, pi/2+0.005, pi/2]; d = [0+0.001, 0+0.0079, 90+0.005, 0+0.12]; theta = [90*du+0.02, 0, 0.023, 0.08]; beta = zeros(1, 4)+0; L1(1) = Link('d', d(1), 'a', a(1), 'alpha', alpha(1), 'qlim', [180*du, 365*du], 'modified'); L1(2) = Link('d', d(2), 'a', a(2), 'alpha', alpha(2), 'qlim', [3*du, 63*du], 'modified'); L1(3) = Link('d', d(3), 'a', a(3), 'alpha', alpha(3), 'qlim', [60*du, 120*du], 'modified'); L1(4) = Link('d', d(4), 'a', a(4), 'alpha', alpha(4), 'qlim', [230*du, 326*du], 'modified'); Needle = SerialLink(L1, 'name', 'Needle'); T1 = DH(1, a(1), alpha(1), d(1), theta(1)+beta(1)); T2 = DH(2, a(2), alpha(2), d(2), theta(2)+beta(2)); T3 = DH(3, a(3), alpha(3), d(3), theta(3)+beta(3)); T4 = DH(4, a(4), alpha(4), d(4), theta(4)+beta(4)); T = T1*T2*T3*T4; delta_a = 0.001; delta_T = zeros(4, 4); delta_a = 0.001; delta_T = zeros(4, 4); for i = 1:4 delta_T = delta_T + diff(T, 1, a(i))*delta_a; end delta_alpha = 0.003; for i = 1:4 delta_T = delta_T + diff(T, 1, alpha(i))*delta_alpha; end delta_d = 0.005; for i = 1:4 delta_T = delta_T + diff(T, 1, d(i))*delta_d; end delta_theta = 0.02*du; for i = 1:4 delta_T = delta_T + diff(T, 1, theta(i))*delta_theta; end delta_beta = 0.0; for i = 1:4 delta_T = delta_T + diff(T, 1, beta(i))*delta_beta; end q = [theta(1), 0, theta(3), theta(4)]; T = Needle.fkine(q); pos = T(1:3, 4); euler = tr2eul(T, 'ZYX')/du; delta_pos = delta_T(1:3, 4); delta_euler = tr2eul(delta_T, 'ZYX')/du;错误使用 diff 维度参数必须是处于索引范围内的正整数标量。 出错 ceshi2 (line 30) delta_T = delta_T + diff(T, 1, a(i))*delta_a;

clear all; clc; du = pi/180; a = [0+0.001, 185+0.0079, 0+0.005, 120+0.12]; alpha = [pi/2+0.003, 0+0.001, pi/2+0.005, pi/2]; d = [0+0.001, 0+0.0079, 90+0.005, 0+0.12]; theta = [90du+0.02, 0, 0.023, 0.08]; beta = zeros(1, 4)+0; L1(1) = Link('d', d(1), 'a', a(1), 'alpha', alpha(1), 'qlim', [180du, 365du], 'modified'); L1(2) = Link('d', d(2), 'a', a(2), 'alpha', alpha(2), 'qlim', [3du, 63du], 'modified'); L1(3) = Link('d', d(3), 'a', a(3), 'alpha', alpha(3), 'qlim', [60du, 120du], 'modified'); L1(4) = Link('d', d(4), 'a', a(4), 'alpha', alpha(4), 'qlim', [230du, 326du], 'modified'); Needle = SerialLink(L1, 'name', 'Needle'); T1 = DH(1, a(1), alpha(1), d(1), theta(1)+beta(1)); T2 = DH(2, a(2), alpha(2), d(2), theta(2)+beta(2)); T3 = DH(3, a(3), alpha(3), d(3), theta(3)+beta(3)); T4 = DH(4, a(4), alpha(4), d(4), theta(4)+beta(4)); T = T1T2T3T4; delta_a = 0.001; delta_T = zeros(4, 4); for i = 1:4 delta_T = delta_T + diff(T, a(i))*delta_a; end delta_alpha = 0.003; for i = 1:4 delta_T = delta_T + diff(T, alpha(i))*delta_alpha; end delta_d = 0.005; for i = 1:4 delta_T = delta_T + diff(T, d(i))delta_d; end delta_theta = 0.02du; for i = 1:4 delta_T = delta_T + diff(T, theta(i))*delta_theta; end delta_beta = 0.0; for i = 1:4 delta_T = delta_T + diff(T, beta(i))*delta_beta; end q = [theta(1), 0, theta(3), theta(4)]; T = Needle.fkine(q); pos = T(1:3, 4); euler = tr2eul(T, 'ZYX')/du; delta_pos = delta_T(1:3, 4); delta_euler = tr2eul(delta_T, 'ZYX')/du;运行显示错误使用 diff 差分阶数 N 必须为正整数标量。。能不能晕另外的写法把这段代码进行修改,保证能够成功运行

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