function?drawPathError（uuVFcolors）

????%?process?inputs?to?function
????pn???????=?uu（1）;???????%?inertial?North?position?????
????pe???????=?uu（2）;???????%?inertial?East?position
????pd???????=?uu（3）;???????%?inertial?Down?position
????u????????=?uu（4）;???????%?body?frame?velocities
????v????????=?uu（5）;???????
????w????????=?uu（6）;???????
????phi??????=?uu（7）;???????%?roll?angle?????????
????theta????=?uu（8）;???????%?pitch?angle?????
????psi??????=?uu（9）;???????%?yaw?angle?????
????p????????=?uu（10）;??????%?roll?rate
????q????????=?uu（11）;??????%?pitch?rate?????
????r????????=?uu（12）;??????%?yaw?rate????
????t????????=?uu（13）;??????%?time
????NN?=?13;
????flag_path?=?uu（1+NN）;??????%?path?flag
????r_path????=?[uu（3+NN）;?uu（4+NN）;?uu（5+NN）];
????q_path????=?[uu（6+NN）;?uu（7+NN）;?uu（8+NN）];
????c_orbit???=?[uu（9+NN）;?uu（10+NN）;?uu（11+NN）];
????rho_orbit?=?uu（12+NN）;
????lam_orbit?=?uu（13+NN）;


????%?define?persistent?variables?
????persistent?aircraft_handle;??%?figure?handle?for?MAV

????%?first?time?function?is?called?initialize?plot?and?persistent?vars
????if?t==0

????????figure（1）?clf
????????S?=?500;
????????switch?flag_path
????????????case?1
????????????????XX?=?[r_path（1）?r_path（1）+S*q_path（1）];
????????????????YY?=?[r_path（2）?r_path（2）+S*q_path（2）];
????????????????ZZ?=?[r_path（3）?r_path（3）+S*q_path（3）];
????????????case?2
????????????????N?=?100;
????????????????th?=?[0:2*pi/N:2*pi];
????????????????XX?=?c_orbit（1）?+?rho_orbit*cos（th）;
????????????????YY?=?c_orbit（2）?+?rho_orbit*sin（th）;
????????????????ZZ?=?c_orbit（3）*ones（size（th））;
????????end
????????plot3（YYXX-ZZ‘r‘）
????????hold?on
????????????????
????????aircraft_handle?=?drawBody（VFcolors...
???????????????????????????????????pnpepdphithetapsi...
???????????????????????????????????[]?‘normal‘）;
????????title（‘UAV‘）
????????xlabel（‘East‘）
????????ylabel（‘North‘）
????????zlabel（‘-Down‘）
????????view（090）??%?set?the?view?angle?for?figure
????????axis（[-SS-SS-.1??S]）;
????????grid?on
????????
????????
????%?at?every?other?time?step?redraw?MAV
????else?
????????drawBody（VFcolors...
?????????????????????pnpepdphithetapsi...
?????????????????????aircraft_handle）;
????end
%????figure（1）?plot3（pepn-pd‘.k‘）;
end

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function?handle?=?drawBody（VFcolors...
???????????????????????????????pn?pe?pd?phi?theta?psi...
???????????????????????????????handle?mode）
??V?=?rotate（V‘?phi?theta?psi）‘;??%?rotate?rigid?body??
??V?=?translate（V‘?pn?pe?pd）‘;??%?translate?after?rotation

??%?transform?vertices?from?NED?to?XYZ?（for?matlab?rendering）
??R?=?[...
??????0?1?0;...
??????1?0?0;...
??????0?0?-1;...
??????];
??V?=?V*R;

??if?isempty（handle）
????handle?=?patch（‘Vertices‘?V?‘Faces‘?F...
?????????????????‘FaceVertexCData‘colors...
?????????????????‘FaceColor‘‘flat‘...
?????????????????‘EraseMode‘?mode）;
??else
????set（handle‘Vertices‘V‘Faces‘F）;
????drawnow
??end
??
end?


%%%%%%%%%%%%%

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????3685??2010-10-22?16:09??SUAV\chap10_follow\drawPathError.m

?????文件??????67311??2010-11-01?10:51??SUAV\chap10_follow\mavsim_chap10.mdl

?????文件??????36175??2010-10-22?16:09??SUAV\chap10_follow\mavsim_chap10_model.mdl

?????文件???????1920??2010-11-01?11:00??SUAV\chap10_follow\path_follow.m

?????文件???????1687??2010-11-01?10:50??SUAV\chap10_follow\path_manager_chap10.m

?????文件???????1151??2010-10-22?15:09??SUAV\chap11_manager\createWorld.m

?????文件???????8757??2010-10-22?15:09??SUAV\chap11_manager\drawEnvironment.m

?????文件???????3685??2010-10-22?15:09??SUAV\chap11_manager\drawPathError.m

?????文件???????3459??2010-11-08?13:30??SUAV\chap11_manager\dubinsParameters.m

?????文件??????67853??2010-10-22?15:09??SUAV\chap11_manager\mavsim_chap11.mdl

?????文件??????38890??2010-10-22?15:09??SUAV\chap11_manager\mavsim_chap11_model.mdl

?????文件????????563??2010-11-11?18:31??SUAV\chap11_manager\param_chap11.m

?????文件???????2542??2010-11-08?13:30??SUAV\chap11_manager\path_manager.m

?????文件???????6775??2010-11-08?13:38??SUAV\chap11_manager\path_manager_dubins.m

?????文件???????3255??2010-11-08?13:35??SUAV\chap11_manager\path_manager_fillet.m

?????文件???????2621??2010-11-08?13:33??SUAV\chap11_manager\path_manager_line.m

?????文件???????1646??2010-11-08?13:31??SUAV\chap11_manager\path_planner_chap11.m

?????文件??????67861??2010-10-22?15:09??SUAV\chap12_plan\mavsim_chap12.mdl

?????文件??????40340??2010-11-15?09:52??SUAV\chap12_plan\mavsim_chap12_model.mdl

?????文件???????4146??2010-10-22?15:09??SUAV\chap12_plan\path_planner.m

?????文件???????5962??2010-11-15?13:09??SUAV\chap12_plan\planCover.m

?????文件???????8174??2010-10-22?15:09??SUAV\chap12_plan\planRRT.m

?????文件???????4338??2010-11-22?09:23??SUAV\chap13_camera\camera.m

?????文件??????13102??2010-11-22?09:24??SUAV\chap13_camera\drawEnvironmentCamera.m

?????文件???????2432??2010-11-29?12:52??SUAV\chap13_camera\geolocation.m

?????文件???????6535??2010-10-22?15:09??SUAV\chap13_camera\gimbal.jpg

?????文件???????3729??2010-10-22?15:09??SUAV\chap13_camera\gimbal.m

?????文件??????84251??2010-10-22?15:09??SUAV\chap13_camera\mavsim_chap13_geolocation.mdl

?????文件??????55299??2010-10-22?15:09??SUAV\chap13_camera\mavsim_chap13_geolocation_model.mdl

?????文件??????78323??2010-10-22?15:09??SUAV\chap13_camera\mavsim_chap13_gimbal.mdl

............此處省略156個文件信息