tprob.m

机器人协同控制流函数matlab程序实现

                         if length(L625)~=0      
                             [Probability_Matrix,L749,l749,L750,l750]=Choice(L625,l625,Probability_Matrix,Dis_Mat,x)
                         end
                         if length(L626)~=0       
                             [Probability_Matrix,L751,l751,L752,l752]=Choice(L626,l626,Probability_Matrix,Dis_Mat,x) 
                         end  
                     end
                     if length(L514)~=0    
                         [Probability_Matrix,L627,l627,L628,l628]=Choice(L514,l514,Probability_Matrix,Dis_Mat,x)
                         if length(L627)~=0            
                             [Probability_Matrix,L753,l753,L754,l754]=Choice(L627,l627,Probability_Matrix,Dis_Mat,x)
                         end
                         if length(L628)~=0      
                             [Probability_Matrix,L755,l755,L756,l756]=Choice(L628,l628,Probability_Matrix,Dis_Mat,x) 
                         end
                     end  
                 end
                 if length(L48)~=0       
                     [Probability_Matrix,L515,l515,L516,l516]=Choice(L48,l48,Probability_Matrix,Dis_Mat,x)
                     if length(L515)~=0           
                         [Probability_Matrix,L629,l629,L630,l630]=Choice(L515,l515,Probability_Matrix,Dis_Mat,x)
                         if length(L629)~=0     
                             [Probability_Matrix,L757,l757,L758,l758]=Choice(L629,l629,Probability_Matrix,Dis_Mat,x)
                         end
                         if length(L630)~=0   
                             [Probability_Matrix,L759,l759,L760,l760]=Choice(L630,l630,Probability_Matrix,Dis_Mat,x)
                         end 
                     end
                     if length(L516)~=0     
                         [Probability_Matrix,L631,l631,L632,l632]=Choice(L516,l516,Probability_Matrix,Dis_Mat,x)
                         if length(L631)~=0 
                             [Probability_Matrix,L761,l761,L762,l762]=Choice(L631,l631,Probability_Matrix,Dis_Mat,x)
                         end
                         if length(L632)~=0    
                             [Probability_Matrix,L763,l763,L764,l764]=Choice(L632,l632,Probability_Matrix,Dis_Mat,x)
                         end  
                     end  
                 end  
             end  
         end 
     end 
     
     if length(L12)~=0    
         [Probability_Matrix,L23,l23,L24,l24]=Choice(L12,l12,Probability_Matrix,Dis_Mat,x)
         if length(L23)~=0  
             [Probability_Matrix,L35,l35,L36,l36]=Choice(L23,l23,Probability_Matrix,Dis_Mat,x)
             if length(L35)~=0  
                 [Probability_Matrix,L49,l49,L410,l410]=Choice(L35,l35,Probability_Matrix,Dis_Mat,x)
                 if length(L49)~=0   
                     [Probability_Matrix,L517,l517,L518,l518]=Choice(L49,l49,Probability_Matrix,Dis_Mat,x)
                     if length(L517)~=0  
                         [Probability_Matrix,L633,l633,L634,l634]=Choice(L517,l517,Probability_Matrix,Dis_Mat,x)
                         if length(L633)~=0 
                             [Probability_Matrix,L765,l765,L766,l766]=Choice(L633,l633,Probability_Matrix,Dis_Mat,x) 
                         end
                         if length(L634)~=0       
                             [Probability_Matrix,L767,l767,L768,l768]=Choice(L634,l634,Probability_Matrix,Dis_Mat,x)
                         end   
                     end
                     if length(L518)~=0   
                         [Probability_Matrix,L635,l635,L636,l636]=Choice(L518,l518,Probability_Matrix,Dis_Mat,x)
                         if length(L635)~=0       
                             [Probability_Matrix,L769,l769,L770,l770]=Choice(L635,l635,Probability_Matrix,Dis_Mat,x)
                         end                     
                         if length(L636)~=0      
                             [Probability_Matrix,L771,l771,L772,l772]=Choice(L636,l636,Probability_Matrix,Dis_Mat,x)   
                         end  
                     end   
                 end
                 if length(L410)~=0    
                     [Probability_Matrix,L519,l519,L520,l520]=Choice(L410,l410,Probability_Matrix,Dis_Mat,x)
                     if length(L519)~=0 
                         [Probability_Matrix,L637,l637,L638,l638]=Choice(L519,l519,Probability_Matrix,Dis_Mat,x)
                         if length(L637)~=0      
                             [Probability_Matrix,L773,l773,L774,l774]=Choice(L637,l637,Probability_Matrix,Dis_Mat,x)  
                         end
                         if length(L638)~=0    
                             [Probability_Matrix,L775,l775,L776,l776]=Choice(L638,l638,Probability_Matrix,Dis_Mat,x) 
                         end    
                     end
                     if length(L520)~=0       
                         [Probability_Matrix,L639,l639,L640,l640]=Choice(L520,l520,Probability_Matrix,Dis_Mat,x)
                         if length(L639)~=0     
                             [Probability_Matrix,L777,l777,L778,l778]=Choice(L639,l639,Probability_Matrix,Dis_Mat,x)
                         end
                         if length(L640)~=0       
                             [Probability_Matrix,L779,l779,L780,l780]=Choice(L640,l640,Probability_Matrix,Dis_Mat,x) 
                         end   
                     end   
                 end    
             end
             if length(L36)~=0                   
                 [Probability_Matrix,L411,l411,L412,l412]=Choice(L36,l36,Probability_Matrix,Dis_Mat,x)
                 if length(L411)~=0        
                     [Probability_Matrix,L521,l521,L522,l522]=Choice(L411,l411,Probability_Matrix,Dis_Mat,x)
                     if length(L521)~=0      
                         [Probability_Matrix,L641,l641,L642,l642]=Choice(L521,l521,Probability_Matrix,Dis_Mat,x)
                         if length(L641)~=0       
                             [Probability_Matrix,L781,l781,L782,l782]=Choice(L641,l641,Probability_Matrix,Dis_Mat,x) 
                         end
                         if length(L642)~=0       
                             [Probability_Matrix,L783,l783,L784,l784]=Choice(L642,l642,Probability_Matrix,Dis_Mat,x)
                         end  
                     end
                     if length(L522)~=0       
                         [Probability_Matrix,L643,l643,L644,l644]=Choice(L522,l522,Probability_Matrix,Dis_Mat,x)
                         if length(L643)~=0       
                             [Probability_Matrix,L785,l785,L786,l786]=Choice(L643,l643,Probability_Matrix,Dis_Mat,x)
                         end
                         if length(L644)~=0    
                             [Probability_Matrix,L787,l787,L788,l788]=Choice(L644,l644,Probability_Matrix,Dis_Mat,x) 
                         end  
                     end  
                 end
                 if length(L412)~=0                   
                     [Probability_Matrix,L523,l523,L524,l524]=Choice(L412,l412,Probability_Matrix,Dis_Mat,x)
                     if length(L523)~=0  
                         [Probability_Matrix,L645,l645,L646,l646]=Choice(L523,l523,Probability_Matrix,Dis_Mat,x)
                         if length(L645)~=0   
                             [Probability_Matrix,L789,l789,L790,l790]=Choice(L645,l645,Probability_Matrix,Dis_Mat,x)
                         end
                         if length(L646)~=0           
                             [Probability_Matrix,L791,l791,L792,l792]=Choice(L646,l646,Probability_Matrix,Dis_Mat,x)
                         end 
                     end
                     if length(L524)~=0      
                         [Probability_Matrix,L647,l647,L648,l648]=Choice(L524,l524,Probability_Matrix,Dis_Mat,x)
                         if length(L647)~=0  
                             [Probability_Matrix,L793,l793,L794,l794]=Choice(L647,l647,Probability_Matrix,Dis_Mat,x)
                         end                        
                         if length(L648)~=0       
                             [Probability_Matrix,L795,l795,L796,l796]=Choice(L648,l648,Probability_Matrix,Dis_Mat,x)
                         end 
                     end 
                 end  
             end  
         end  
         if length(L24)~=0            
             [Probability_Matrix,L37,l37,L38,l38]=Choice(L24,l24,Probability_Matrix,Dis_Mat,x)
             if length(L37)~=0   
                 [Probability_Matrix,L413,l413,L414,l414]=Choice(L37,l37,Probability_Matrix,Dis_Mat,x)
                 if length(L413)~=0   
                     [Probability_Matrix,L525,l525,L526,l526]=Choice(L413,l413,Probability_Matrix,Dis_Mat,x)
                     if length(L525)~=0   
                         [Probability_Matrix,L649,l619,L650,l650]=Choice(L525,l525,Probability_Matrix,Dis_Mat,x)
                         if length(L649)~=0   
                             [Probability_Matrix,L797,l797,L798,l798]=Choice(L649,l649,Probability_Matrix,Dis_Mat,x)
                         end
                         if length(L650)~=0  
                             [Probability_Matrix,L799,l799,L7100,l7100]=Choice(L650,l650,Probability_Matrix,Dis_Mat,x) 
                         end   
                     end
                     if length(L526)~=0     
                         [Probability_Matrix,L651,l651,L652,l652]=Choice(L526,l526,Probability_Matrix,Dis_Mat,x)
                         if length(L651)~=0     
                             [Probability_Matrix,L7101,l7101,L7102,l7102]=Choice(L651,l651,Probability_Matrix,Dis_Mat,x) 
                         end  
                         if length(L652)~=0      
                             [Probability_Matrix,L7103,l7103,L7104,l7104]=Choice(L652,l652,Probability_Matrix,Dis_Mat,x) 
                         end   
                     end   
                 end
                 if length(L414)~=0              
                     [Probability_Matrix,L527,l527,L528,l528]=Choice(L414,l414,Probability_Matrix,Dis_Mat,x)
                     if length(L527)~=0      
                         [Probability_Matrix,L653,l653,L654,l654]=Choice(L527,l527,Probability_Matrix,Dis_Mat,x)
                         if length(L653)~=0  
                             [Probability_Matrix,L7105,l7105,L7106,l7106]=Choice(L653,l653,Probability_Matrix,Dis_Mat,x)  
                         end
                         if length(L654)~=0   
                             [Probability_Matrix,L7107,l7107,L7108,l7108]=Choice(L654,l654,Probability_Matrix,Dis_Mat,x)
                         end   
                     end
                     if length(L528)~=0    
                         [Probability_Matrix,L655,l655,L656,l656]=Choice(L528,l528,Probability_Matrix,Dis_Mat,x)
                         if length(L655)~=0      
                             [Probability_Matrix,L7109,l7109,L7110,l7110]=Choice(L655,l655,Probability_Matrix,Dis_Mat,x)
                         end
                         if length(L656)~=0      
                             [Probability_Matrix,L7111,l7111,L7112,l7112]=Choice(L656,l656,Probability_Matrix,Dis_Mat,x) 
                         end   
                     end   
                 end    
             end
             if length(L38)~=0     
                 [Probability_Matrix,L415,l415,L416,l416]=Choice(L38,l38,Probability_Matrix,Dis_Mat,x)
                 if length(L415)~=0        
                     [Probability_Matrix,L529,l529,L530,l530]=Choice(L415,l415,Probability_Matrix,Dis_Mat,x)
                     if length(L529)~=0                 
                         [Probability_Matrix,L657,l657,L658,l658]=Choice(L529,l529,Probability_Matrix,Dis_Mat,x)
                         if length(L657)~=0             
                             [Probability_Matrix,L7113,l7113,L7114,l7114]=Choice(L657,l657,Probability_Matrix,Dis_Mat,x)
                         end
                         if length(L658)~=0        
                             [Probability_Matrix,L7115,l7115,L7116,l7116]=Choice(L658,l658,Probability_Matrix,Dis_Mat,x)
                         end 
                     end
                     if length(L530)~=0    
                         [Probability_Matrix,L659,l659,L660,l660]=Choice(L530,l530,Probability_Matrix,Dis_Mat,x)
                         if length(L659)~=0  
                             [Probability_Matrix,L7117,l7117,L7118,l7118]=Choice(L659,l659,Probability_Matrix,Dis_Mat,x) 
                         end
                         if length(L660)~=0      
                             [Probability_Matrix,L7119,l7119,L7120,l7120]=Choice(L660,l660,Probability_Matrix,Dis_Mat,x) 
                         end  
                     end  
                 end
                 if length(L416)~=0              
                     [Probability_Matrix,L531,l531,L532,l532]=Choice(L416,l416,Probability_Matrix,Dis_Mat,x)
                     if length(L531)~=0     
                         [Probability_Matrix,L661,l661,L662,l662]=Choice(L531,l531,Probability_Matrix,Dis_Mat,x)
                         if length(L661)~=0       
                             [Probability_Matrix,L7121,l7121,L7122,l7122]=Choice(L661,l661,Probability_Matrix,Dis_Mat,x)
                         end
                         if length(L662)~=0       
                             [Probability_Matrix,L7123,l7123,L7124,l7124]=Choice(L662,l662,Probability_Matrix,Dis_Mat,x)
                         end  
                     end
                     if length(L532)~=0        
                         [Probability_Matrix,L663,l663,L664,l664]=Choice(L532,l532,Probability_Matrix,Dis_Mat,x)
                         if length(L663)~=0   
                             [Probability_Matrix,L7125,l7125,L7126,l7126]=Choice(L663,l663,Probability_Matrix,Dis_Mat,x)
                         end
                         if length(L664)~=0      
                             [Probability_Matrix,L7127,l7127,L7128,l7128]=Choice(L664,l664,Probability_Matrix,Dis_Mat,x) 
                         end  
                     end  
                 end  
             end