classdef?Body
????%車身機械結(jié)構(gòu)?
????%車寬，車長，車重，摩擦系數(shù)，車身角度，車速，車輪半徑，位置x，位置y
????properties
????????body_width;
????????body_lenth;
????????body_weight;
????????friction_coefficient;
????????body_angle;
????????body_speed;
????????wheel_radius;
????????body_location_x;
????????body_location_y;
????????friction;
????end
????
????methods
????????function?obj?=?Body（body_widthbody_lenthbody_weightfriction_coefficient...
????????????????????????????body_anglebody_speedwheel_radiusbody_location_xbody_location_y）
????????obj.body_width?=?body_width;
????????obj.body_lenth?=?body_lenth;
????????obj.body_weight?=?body_weight;
????????obj.friction_coefficient?=?friction_coefficient;
????????obj.body_angle?=?body_angle;
????????obj.body_speed?=?body_speed;
????????obj.wheel_radius?=?wheel_radius;
????????obj.body_location_x?=?body_location_x;
????????obj.body_location_y?=?body_location_y;
????????obj.friction?=?body_weight*9.8*friction_coefficient;
????????end
????????
????????function?next_speed?=?cal_speed（objtorque）
????????????global?dt;
????????????driving_force?=?torque/obj.wheel_radius;
????????????if（obj.body_speed?==?0）
????????????????if（driving_force?????????????????????sum_force?=?0;
????????????????else
????????????????????sum_force?=?driving_force?-?obj.friction*（driving_force/abs（driving_force））;
????????????????end
????????????else
????????????????sum_force?=?driving_force?-?obj.friction*（obj.body_speed/abs（obj.body_speed））;
????????????end
????????????acceleration?=?sum_force/obj.body_weight;
????????????next_speed?=?obj.body_speed+acceleration*dt;
????????end
????????
????????function?[next_location_xnext_location_y]?=?cal_location（obj）
????????????global?dt;
????????????next_location_x=obj.body_location_x+（obj.body_speed*dt）*cos（obj.body_angle）;
????????????next_location_y=obj.body_location_y+（obj.body_speed*dt）*sin（obj.body_angle）;
????????end
????????
????????function?next_body_angle?=?cal_body_angle（objsteering_angle）
????????????global?dt;
????????????if（steering_angle==0）
????????????????next_body_angle?=?obj.body_angle;
????????????else
????????????????RL=abs（obj.body_lenth/sin（steering_angle））;
????????????????R=sqrt（RL*RL+（obj.body_width/2）*（obj.body_width/2）-2*RL*obj.body_width/2*cos（abs（steering_angle）））;
????????????????next_body_angle=obj.body_angle+（steering_angle/abs（steering_angle））*obj.body_speed*dt/R;
????????????end
????????????if（next_body_angle>=2*pi）
????????????????next_body_angle=next_body_angle-2*pi;
????????????end
????????????if（next_body_angle<0）
????????????????next_body_angle=2*pi+next_body_angle;
????????????end
????????end
????????
????end
????
end

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件????????2765??2020-03-09?00:21??Body.m
?????文件????????2788??2020-03-23?23:59??Camera.m
?????文件?????????986??2020-03-24?00:15??Chip.m
?????文件????????1691??2020-03-08?23:50??Motor.m
?????文件?????????980??2020-03-23?23:47??Steer.m
?????文件?????????576??2020-03-24?00:19??control.m
?????文件?????????599??2020-03-15?23:50??creat_map.m
?????文件?????????628??2020-03-15?23:48??creat_track.m
?????文件?????????895??2020-03-24?00:09??main.m
?????文件??????264372??2020-03-16?00:00??map.mat
?????文件????????2297??2020-03-24?00:18??test.m