get_code_config.m

来自「多智能体工具包」· M 代码 · 共 25 行

function Robot_Config=get_code_config(Robot_Code)
% GET_CODE_CONFIG	Convert the binary representation to real configuration.

%     Copyright (c) 1997-2000 Jiming Liu and Jianbing Wu

global Class_Change_Dist Red_White_Distance;
global RadiusCode_Len AngleCode_Len Single_Code_Width;

Max_Radius_Int=2^RadiusCode_Len;
Max_Angle_Int=2^AngleCode_Len;

Current_Radius_Code=Robot_Code(1:RadiusCode_Len);  
Current_Angle_Code=Robot_Code(RadiusCode_Len+1:Single_Code_Width); 

Current_Radius_Bin=gray2bin(Current_Radius_Code);
Radius_Int=bin2int(Current_Radius_Bin);

Real_Radius=Red_White_Distance+Radius_Int*Class_Change_Dist/Max_Radius_Int;

Current_Angle_Bin=gray2bin(Current_Angle_Code);
Angle_Int=bin2int(Current_Angle_Bin);

Real_Angle=Angle_Int*2*pi/Max_Angle_Int;

Robot_Config=config_from_ra(Real_Radius,Real_Angle);