function?angle_calculate
global?Agent_Num?present_Config?Agent_Num?angle_set?angle_present?edge_vector?unit_vector?angle_error?speed?Lya;
Agent_Num=4;
step=0.5
a=1;
s=0;
n=0;
k=0;
Lya=[];
speed=zeros（Agent_Num2）;
edge_vector=zeros（Agent_Num2）;
unit_vector=zeros（Agent_Num2）;%夾角
angle_error=[];%處理后的夾角
angle_set=[pi/2?pi/2?pi/2?pi/2];%設定的三角形內角
angle_present=[];
angle_error1=[];
angle_error2=[];
angle_error3=[];
angle_error4=[];
while?1
????n=n+1;
for?qq=1:Agent_Num
?if?qq==Agent_Num
????edge_vector（qq:）=present_Config（1:）-present_Config（qq:）;
?else?
????edge_vector（qq:）=present_Config（qq+1:）-present_Config（qq:）;
?end
end

for?ww=1:Agent_Num
??unit_vector（ww:）=unit（edge_vector（ww:））;?????
end

for?yy=1:Agent_Num
????if?yy==1
????angle_present（yy）=c

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

?????文件???????2571??2015-05-08?02:00??仿真2\angle_calculate.asv

?????文件???????2695??2015-05-08?13:31??仿真2\angle_calculate.m

?????文件????????158??2015-04-30?13:30??仿真2\counterclockwise_angle.asv

?????文件????????285??2015-04-30?23:22??仿真2\counterclockwise_angle.m

?????文件????????916??2015-05-01?00:15??仿真2\initial.m

?????文件????????166??2015-04-12?00:29??仿真2\main.m

?????文件??????10240??2015-03-23?21:48??仿真2\setume.doc

?????文件?????????94??2015-04-11?11:35??仿真2\sgn.m

?????文件?????????58??2015-04-11?11:38??仿真2\unit.m

?????目錄??????????0??2015-05-08?15:25??仿真2

-----------?---------??----------?-----??----

????????????????17183????????????????????10