robo.m

在matlab环境下

function xxx = robo(r1,r2,x,y,n,frame)
         clf; count = [1:360]';
          yy = robdat(x,y,n); 
          xxx = yy;
         hold on;  axis('equal');
           for i = 1:360
            c = int2cir(r1,r2,yy(i,1),yy(i,2));
            cc(i,1) = c(1);  cc(i,2) = c(2); 
          end; 
%------------------------------------------------------------
         for ii = 1:360
             a = [1,0]'; b = [cc(ii,1) cc(ii,2)]';
             ax1(ii) = anglec(a,b);
               aa = [-cc(ii,1) -cc(ii,2)]';
               bb = [yy(ii,1)-cc(ii,1) yy(ii,2)-cc(ii,2)]';
             ax2(ii) = anglec(aa,bb);
         end;   xxx1 = [ax1' ax2']; xxx = [count xxx xxx1];
%------------------------------------------------------------
          d1 =[0 0;cc(1,1) cc(1,2)];
          d2 =[cc(1,1) cc(1,2); yy(1,1) yy(1,2)];
            l1 = line(d1(:,1),d1(:,2),'erasemode','xor') %,'linewidth',2);
            l2 = line(d2(:,1),d2(:,2),'erasemode','xor') %,'linewidth',2);
%------------------------------------------------------------
            pause(1);
              for nn = 1:frame               
                for j = 1:360
                 d1(2,1) = cc(j,1);  d1(2,2) = cc(j,2);
                 d2(1,1) = cc(j,1); d2(1,2) = cc(j,2);
                 d2(2,1) = yy(j,1); d2(2,2) = yy(j,2);
                  set(l1,'xdata',d1(:,1),'ydata',d1(:,2));
                  set(l2,'xdata',d2(:,1),'ydata',d2(:,2));                 
                  drawnow;
              end; end; 
          print -dps robo;% hold off