📄 tracking.frm
字号:
VERSION 5.00
Begin VB.Form main_form
BorderStyle = 1 'Fixed Single
Caption = "Tracking system demonstration"
ClientHeight = 6975
ClientLeft = 915
ClientTop = 1005
ClientWidth = 10275
LinkTopic = "Form1"
MaxButton = 0 'False
MinButton = 0 'False
Moveable = 0 'False
ScaleHeight = 6975
ScaleWidth = 10275
Tag = "f1"
Begin VB.Frame control_frame
Height = 6735
Left = 7200
TabIndex = 0
Top = 120
Width = 2895
Begin VB.CommandButton INFO_Button
Caption = "INFO"
Height = 495
Left = 1440
TabIndex = 39
Top = 4440
Width = 1215
End
Begin VB.CheckBox check_zoom
Caption = "Zoom"
Height = 255
Left = 240
TabIndex = 38
Top = 4560
Width = 1095
End
Begin VB.HScrollBar select_e
Height = 255
Left = 120
TabIndex = 36
Top = 2280
Visible = 0 'False
Width = 2175
End
Begin VB.HScrollBar select_p
Height = 255
Left = 120
TabIndex = 33
Top = 1680
Visible = 0 'False
Width = 2175
End
Begin VB.HScrollBar select_R4
Height = 255
Left = 120
TabIndex = 29
Top = 3120
Visible = 0 'False
Width = 2175
End
Begin VB.OptionButton select_Ptr2
Caption = "Dive"
Height = 195
Left = 240
TabIndex = 11
Top = 3000
Width = 2535
End
Begin VB.HScrollBar select_R3
Height = 255
Left = 120
TabIndex = 26
Top = 2520
Visible = 0 'False
Width = 2175
End
Begin VB.HScrollBar select_R2
Height = 255
Left = 120
TabIndex = 23
Top = 1920
Visible = 0 'False
Width = 2175
End
Begin VB.HScrollBar select_R1
Height = 255
Left = 120
TabIndex = 21
Top = 1320
Visible = 0 'False
Width = 2175
End
Begin VB.TextBox text_Mtime
Alignment = 2 'Center
BackColor = &H8000000B&
Height = 225
Left = 2040
MaxLength = 3
TabIndex = 18
Text = "60"
Top = 3960
Width = 495
End
Begin VB.CommandButton Quit_Button
Caption = "Quit"
Height = 495
Left = 1560
TabIndex = 15
Top = 6000
Width = 1215
End
Begin VB.CommandButton Clear_Button
Caption = "Clear"
Height = 495
Left = 120
TabIndex = 14
Top = 6000
Width = 1215
End
Begin VB.CommandButton Process_Button
Caption = "Process"
Height = 615
Left = 120
TabIndex = 13
Top = 5160
Width = 2655
End
Begin VB.OptionButton select_Ptr3
Caption = "Rescue"
Height = 255
Left = 240
TabIndex = 12
Top = 3360
Width = 2535
End
Begin VB.OptionButton select_Ptr1
Caption = "Straight"
Height = 255
Left = 240
TabIndex = 10
Top = 2640
Value = -1 'True
Width = 2415
End
Begin VB.HScrollBar select_Pvel
Height = 255
Left = 120
TabIndex = 7
Top = 1920
Width = 2175
End
Begin VB.HScrollBar select_Rvel
Height = 255
Left = 120
TabIndex = 4
Top = 1320
Width = 2175
End
Begin VB.ComboBox selectMode
Height = 315
Left = 120
TabIndex = 2
Text = "Rocket & Plane"
Top = 480
Width = 2295
End
Begin VB.Label text_e
Alignment = 2 'Center
BackColor = &H80000009&
BorderStyle = 1 'Fixed Single
Height = 255
Left = 2400
TabIndex = 37
Top = 2280
Visible = 0 'False
Width = 375
End
Begin VB.Label label_Or
Caption = "Choose r value"
Height = 255
Index = 2
Left = 120
TabIndex = 35
Top = 2040
Visible = 0 'False
Width = 2655
End
Begin VB.Label text_p
Alignment = 2 'Center
BackColor = &H80000009&
BorderStyle = 1 'Fixed Single
Height = 255
Left = 2400
TabIndex = 34
Top = 1680
Visible = 0 'False
Width = 375
End
Begin VB.Label label_Or
Caption = "Choose p value"
Height = 255
Index = 1
Left = 120
TabIndex = 32
Top = 1440
Visible = 0 'False
Width = 2655
End
Begin VB.Label label_Or
Caption = "Orbit equation used r=p/(1+e*cos(a))"
Height = 255
Index = 0
Left = 120
TabIndex = 31
Top = 1080
Visible = 0 'False
Width = 2655
End
Begin VB.Label text_R4
Alignment = 2 'Center
BackColor = &H80000009&
BorderStyle = 1 'Fixed Single
Height = 255
Left = 2400
TabIndex = 30
Top = 3120
Visible = 0 'False
Width = 375
End
Begin VB.Label Label_R
Caption = "Choose Rocket 4 Velocity"
Height = 255
Index = 3
Left = 120
TabIndex = 28
Top = 2880
Visible = 0 'False
Width = 2655
End
Begin VB.Label text_R3
Alignment = 2 'Center
BackColor = &H80000009&
BorderStyle = 1 'Fixed Single
Height = 255
Left = 2400
TabIndex = 27
Top = 2520
Visible = 0 'False
Width = 375
End
Begin VB.Label Label_R
Caption = "Choose Rocket 3 Velocity"
Height = 255
Index = 2
Left = 120
TabIndex = 25
Top = 2280
Visible = 0 'False
Width = 2655
End
Begin VB.Label text_R2
Alignment = 2 'Center
BackColor = &H80000009&
BorderStyle = 1 'Fixed Single
Height = 255
Left = 2400
TabIndex = 24
Top = 1920
Visible = 0 'False
Width = 375
End
Begin VB.Label text_R1
Alignment = 2 'Center
BackColor = &H80000009&
BorderStyle = 1 'Fixed Single
Height = 255
Left = 2400
TabIndex = 22
Top = 1320
Visible = 0 'False
Width = 375
End
Begin VB.Label Label_R
Caption = "Choose Rocket 2 Velocity"
Height = 255
Index = 1
Left = 120
TabIndex = 20
Top = 1680
Visible = 0 'False
Width = 2655
End
Begin VB.Label label_Mtime
Caption = "Maximal simulation time"
Height = 255
Left = 120
TabIndex = 17
Top = 3960
Width = 1815
End
Begin VB.Label label_traj
Caption = "Choose Plane Trajectory"
Height = 255
Left = 120
TabIndex = 9
Top = 2280
Width = 2655
End
Begin VB.Label text_Pvel
Alignment = 2 'Center
BackColor = &H8000000E&
BorderStyle = 1 'Fixed Single
Height = 255
Left = 2400
TabIndex = 8
Top = 1920
Width = 375
End
Begin VB.Label label_Pvel
Caption = "Choose Plane Velocity"
Height = 255
Left = 120
TabIndex = 6
Top = 1680
Width = 2655
End
Begin VB.Label text_Rvel
Alignment = 2 'Center
BackColor = &H80000009&
BorderStyle = 1 'Fixed Single
Height = 255
Left = 2400
TabIndex = 5
Top = 1320
Width = 375
End
Begin VB.Label demonstration_label
Caption = "Select a demonstration mode"
Height = 255
Left = 120
TabIndex = 1
Top = 240
Width = 2655
End
Begin VB.Label Label_R
Caption = "Choose Rocket 1 Velocity"
Height = 255
Index = 0
Left = 120
TabIndex = 19
Top = 1080
Visible = 0 'False
Width = 2655
End
Begin VB.Label label_Rvel
Caption = "Choose Rocket Velocity"
Height = 255
Left = 120
TabIndex = 3
Top = 1080
Width = 2655
End
End
Begin VB.PictureBox Window
BackColor = &H8000000A&
Height = 6615
Left = 120
ScaleHeight = 6555
ScaleWidth = 6915
TabIndex = 16
Top = 240
Width = 6975
End
End
Attribute VB_Name = "main_form"
Attribute VB_GlobalNameSpace = False
Attribute VB_Creatable = False
Attribute VB_PredeclaredId = True
Attribute VB_Exposed = False
Dim ax As Variant
Dim pi As Double
Sub demo1()
axParameters = zeros(1, 3)
dataP_x = zeros(1, 9)
dataP_y = zeros(1, 9)
dataP = zeros(2, 9)
dataR_x = zeros(1, 7)
dataR_y = zeros(1, 7)
dataR = zeros(2, 7)
vel_R = select_Rvel.Value
vel_P = select_Pvel.Value
xR = 0 'initialization of Plane & Rocket coordinates
yR = 0
xP = 0
yP = 150
xRold = xR
yRold = yR
xPold = xP
yPold = yP
velX = 0 'init. of rocket velocity
velY = vel_R
d = 100
t = 0
dt = 0.2
omega = 0.1 * vel_P / 15
R_ = 150
maxT = str2num(text_Mtime).Simple
If IsEmpty(maxT) Then
maxT = 60
text_Mtime.Text = 60
End If
hold ("on")
axParameters(1, 1) = -3
axParameters(1, 2) = 200
axParameters(1, 3) = -3
axParameters(1, 4) = 300
axis (axParameters)
vbrefresh
'Plane graphical data
dataP_x(1, 1) = 0
dataP_x(1, 2) = -1.2
dataP_x(1, 3) = 0
dataP_x(1, 4) = 3
dataP_x(1, 5) = 2
dataP_x(1, 6) = 3
dataP_x(1, 7) = 2
dataP_x(1, 8) = 3
dataP_x(1, 9) = 5
dataP_y(1, 1) = 0
dataP_y(1, 2) = 1.2
dataP_y(1, 3) = 0
dataP_y(1, 4) = 0
dataP_y(1, 5) = 0 + 2
dataP_y(1, 6) = 0
dataP_y(1, 7) = 0 - 2
dataP_y(1, 8) = 0
dataP_y(1, 9) = 0
dataP(1, 1) = 0
dataP(1, 2) = -1.2
dataP(1, 3) = 0
dataP(1, 4) = 3
dataP(1, 5) = 2
dataP(1, 6) = 3
dataP(1, 7) = 2
dataP(1, 8) = 3
dataP(1, 9) = 5
dataP(2, 1) = 0
dataP(2, 2) = 1.2
dataP(2, 3) = 0
dataP(2, 4) = 0
dataP(2, 5) = 0 + 2
dataP(2, 6) = 0
dataP(2, 7) = 0 - 2
dataP(2, 8) = 0
dataP(2, 9) = 0
Plane = mline(plus(dataP_x, xP), plus(dataP_y, yP), "erasemode", "none", "Color", "blue", "LineWidth", 1)
vbrefresh
'Rocket graphical data
dataR_x(1, 1) = 0
dataR_x(1, 2) = -2.5
dataR_x(1, 3) = -3.5
dataR_x(1, 4) = -2.5
dataR_x(1, 5) = -3.5
dataR_x(1, 6) = -3.5
dataR_x(1, 7) = -3.5
dataR_y(1, 1) = 0
dataR_y(1, 2) = 0
dataR_y(1, 3) = 1
dataR_y(1, 4) = 0
dataR_y(1, 5) = -1
dataR_y(1, 6) = 0
dataR_y(1, 7) = 0
dataR(1, 1) = 0
dataR(1, 2) = -2.5
dataR(1, 3) = -3.5
dataR(1, 4) = -2.5
dataR(1, 5) = -3.5
dataR(1, 6) = -3.5
dataR(1, 7) = -3.5
dataR(2, 1) = 0
dataR(2, 2) = 0
dataR(2, 3) = 1
dataR(2, 4) = 0
dataR(2, 5) = -1
dataR(2, 6) = 0
dataR(2, 7) = 0
Rocket = mline("XData", plus(dataR_x, xR), "YData", plus(dataR_y, yR), "Color", "red", "LineWidth", 2, "erasemode", "none")
' Variables initialization
P = zeros(2, 2)
R = zeros(2, 2)
trace_Px = zeros(1, 2)
trace_Py = zeros(1, 2)
trace_Rx = zeros(1, 2)
trace_Ry = zeros(1, 2)
Do While (d > 3) And (t < maxT)
' Plane trajectory calculations
If select_Ptr1.Value = True Then
xP = vel_P * t
yP = yP
ElseIf select_Ptr2.Value = True Then
teta = omega * t
xP = R_ * Cos(pi / 2 - teta)
yP = R_ * Sin(pi / 2 - teta)
ElseIf select_Ptr3.Value = True Then
teta = omega * t
xP = R_ * Cos(teta - pi / 2)
yP = 2 * R_ + R_ * Sin(teta - pi / 2)
End If
xR = xR + velX * dt
yR = yR + velY * dt
' distance bitween P. & R. calculation
dx = xR - xP
dy = yR - yP
d = (dx ^ 2 + dy ^ 2) ^ 0.5
' Turn the rocket face to plane
velX = -vel_R * dx / d
velY = -vel_R * dy / d
t = t + dt
If dx = 0 Then
alphaR = pi / 2 * sign(dy).Simple
Else
alphaR = atan(dy / dx).Simple
'If (alphaR < 0) And (dy < 0) And (dx > 0) Then
' alphaR = alphaR + pi
'ElseIf (alphaR > 0) And (dy > 0) And (dx > 0) Then
' alphaR = alphaR + pi
'End If
End If
If (xPold - xP) = 0 Then
alphaP = pi / 2 * sign(yPold - yP).Simple
Else
alphaP = atan((yPold - yP) / (xPold - xP)).Simple
'If (alphaP < 0) And ((yPold - yP) < 0) And ((xPold - xP) > 0) Then
' alphaP = alphaP + pi
'ElseIf (alphaP > 0) And ((yPold - yP) > 0) And ((xPold - xP) > 0) Then
' alphaP = alphaP + pi
'End If
End If
P(1, 1) = mcos(alphaP)
P(1, 2) = msin(alphaP)
P(2, 1) = uminus(msin(alphaP))
P(2, 2) = mcos(alphaP)
P = inv(P)
R(1, 1) = mcos(alphaR)
R(1, 2) = msin(alphaR)
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