tprob.m

机器人协同控制流函数matlab程序实现

                     if length(R515)~=0 
                         [Probability_Matrix,R629,r629,R630,r630]=Choice(R515,r515,Probability_Matrix,Dis_Mat,x)
                         if length(R629)~=0  
                             [Probability_Matrix,R757,r757,R758,r758]=Choice(R629,r629,Probability_Matrix,Dis_Mat,x)
                         end
                         if length(R630)~=0  
                             [Probability_Matrix,R759,r759,R760,r760]=Choice(R630,r630,Probability_Matrix,Dis_Mat,x) 
                         end  
                     end
                     if length(R516)~=0   
                         [Probability_Matrix,R631,r631,R632,r632]=Choice(R516,r516,Probability_Matrix,Dis_Mat,x)
                         if length(R631)~=0   
                             [Probability_Matrix,R761,r761,R762,r762]=Choice(R631,r631,Probability_Matrix,Dis_Mat,x)
                         end
                         if length(R632)~=0 
                             [Probability_Matrix,R763,r763,R764,r764]=Choice(R632,r632,Probability_Matrix,Dis_Mat,x)
                         end  
                     end 
                 end  
             end  
         end 
     end 
     if length(R12)~=0 
         [Probability_Matrix,R23,r23,R24,r24]=Choice(R12,r12,Probability_Matrix,Dis_Mat,x)
         if length(R23)~=0 
             [Probability_Matrix,R35,r35,R36,r36]=Choice(R23,r23,Probability_Matrix,Dis_Mat,x)
             if length(R35)~=0 
                 [Probability_Matrix,R49,r49,R410,r410]=Choice(R35,r35,Probability_Matrix,Dis_Mat,x)
                 if length(R49)~=0 
                     [Probability_Matrix,R517,r517,R518,r518]=Choice(R49,r49,Probability_Matrix,Dis_Mat,x)
                     if length(R517)~=0   
                         [Probability_Matrix,R633,r633,R634,r634]=Choice(R517,r517,Probability_Matrix,Dis_Mat,x)
                         if length(R633)~=0 
                             [Probability_Matrix,R765,r765,R766,r766]=Choice(R633,r633,Probability_Matrix,Dis_Mat,x)
                         end
                         if length(R634)~=0
                             [Probability_Matrix,R767,r767,R768,r768]=Choice(R634,r634,Probability_Matrix,Dis_Mat,x)
                         end   
                     end
                     if length(R518)~=0     
                         [Probability_Matrix,R635,r635,R636,r636]=Choice(R518,r518,Probability_Matrix,Dis_Mat,x)
                         if length(R635)~=0   
                             [Probability_Matrix,R769,r769,R770,r770]=Choice(R635,r635,Probability_Matrix,Dis_Mat,x) 
                         end                     
                         if length(R636)~=0 
                             [Probability_Matrix,R771,r771,R772,r772]=Choice(R636,r636,Probability_Matrix,Dis_Mat,x)  
                         end   
                     end   
                 end
                 if length(R410)~=0   
                     [Probability_Matrix,R519,r519,R520,r520]=Choice(R410,r410,Probability_Matrix,Dis_Mat,x)
                     if length(R519)~=0 
                         [Probability_Matrix,R637,r637,R638,r638]=Choice(R519,r519,Probability_Matrix,Dis_Mat,x)
                         if length(R637)~=0   
                             [Probability_Matrix,R773,r773,R774,r774]=Choice(R637,r637,Probability_Matrix,Dis_Mat,x)
                         end
                         if length(R638)~=0  
                             [Probability_Matrix,R775,r775,R776,r776]=Choice(R638,r638,Probability_Matrix,Dis_Mat,x)
                         end   
                     end
                     if length(R520)~=0  
                         [Probability_Matrix,R639,r639,R640,r640]=Choice(R520,r520,Probability_Matrix,Dis_Mat,x)
                         if length(R639)~=0  
                             [Probability_Matrix,R777,r777,R778,r778]=Choice(R639,r639,Probability_Matrix,Dis_Mat,x)
                         end
                         if length(R640)~=0  
                             [Probability_Matrix,R779,r779,R780,r780]=Choice(R640,r640,Probability_Matrix,Dis_Mat,x) 
                         end  
                     end  
                 end   
             end
             if length(R36)~=0        
                 [Probability_Matrix,R411,r411,R412,r412]=Choice(R36,r36,Probability_Matrix,Dis_Mat,x)
                 if length(R411)~=0  
                     [Probability_Matrix,R521,r521,R522,r522]=Choice(R411,r411,Probability_Matrix,Dis_Mat,x)
                     if length(R521)~=0   
                         [Probability_Matrix,R641,r641,R642,r642]=Choice(R521,r521,Probability_Matrix,Dis_Mat,x)
                         if length(R641)~=0 
                             [Probability_Matrix,R781,r781,R782,r782]=Choice(R641,r641,Probability_Matrix,Dis_Mat,x)
                         end
                         if length(R642)~=0   
                             [Probability_Matrix,R783,r783,R784,r784]=Choice(R642,r642,Probability_Matrix,Dis_Mat,x)
                         end  
                     end
                     if length(R522)~=0    
                         [Probability_Matrix,R643,r643,R644,r644]=Choice(R522,r522,Probability_Matrix,Dis_Mat,x)
                         if length(R643)~=0 
                             [Probability_Matrix,R785,r785,R786,r786]=Choice(R643,r643,Probability_Matrix,Dis_Mat,x)
                         end
                         if length(R644)~=0 
                             [Probability_Matrix,R787,r787,R788,r788]=Choice(R644,r644,Probability_Matrix,Dis_Mat,x) 
                         end  
                     end  
                 end
                 if length(R412)~=0      
                     [Probability_Matrix,R523,r523,R524,r524]=Choice(R412,r412,Probability_Matrix,Dis_Mat,x)
                     if length(R523)~=0    
                         [Probability_Matrix,R645,r645,R646,r646]=Choice(R523,r523,Probability_Matrix,Dis_Mat,x)
                         if length(R645)~=0
                             [Probability_Matrix,R789,r789,R790,r790]=Choice(R645,r645,Probability_Matrix,Dis_Mat,x)
                         end
                         if length(R646)~=0 
                             [Probability_Matrix,R791,r791,R792,r792]=Choice(R646,r646,Probability_Matrix,Dis_Mat,x) 
                         end  
                     end
                     if length(R524)~=0    
                         [Probability_Matrix,R647,r647,R648,r648]=Choice(R524,r524,Probability_Matrix,Dis_Mat,x)
                         if length(R647)~=0  
                             [Probability_Matrix,R793,r793,R794,r794]=Choice(R647,r647,Probability_Matrix,Dis_Mat,x)
                         end
                         if length(R648)~=0 
                             [Probability_Matrix,R795,r795,R796,r796]=Choice(R648,r648,Probability_Matrix,Dis_Mat,x) 
                         end  
                     end  
                 end  
             end 
         end  
         if length(R24)~=0   
             [Probability_Matrix,R37,r37,R38,r38]=Choice(R24,r24,Probability_Matrix,Dis_Mat,x)
             if length(R37)~=0 
                 [Probability_Matrix,R413,r413,R414,r414]=Choice(R37,r37,Probability_Matrix,Dis_Mat,x)
                 if length(R413)~=0   
                     [Probability_Matrix,R525,r525,R526,r526]=Choice(R413,r413,Probability_Matrix,Dis_Mat,x)
                     if length(R525)~=0  
                         [Probability_Matrix,R649,r619,R650,r650]=Choice(R525,r525,Probability_Matrix,Dis_Mat,x)
                         if length(R649)~=0  
                             [Probability_Matrix,R797,r797,R798,r798]=Choice(R649,r649,Probability_Matrix,Dis_Mat,x)  
                         end
                         if length(R650)~=0     
                             [Probability_Matrix,R799,r799,R7100,r7100]=Choice(R650,r650,Probability_Matrix,Dis_Mat,x)  
                         end    
                     end
                     if length(R526)~=0 
                         [Probability_Matrix,R651,r651,R652,r652]=Choice(R526,r526,Probability_Matrix,Dis_Mat,x)
                         if length(R651)~=0   
                             [Probability_Matrix,R7101,r7101,R7102,r7102]=Choice(R651,r651,Probability_Matrix,Dis_Mat,x) 
                         end  
                         if length(R652)~=0 
                             [Probability_Matrix,R7103,r7103,R7104,r7104]=Choice(R652,r652,Probability_Matrix,Dis_Mat,x) 
                         end  
                     end   
                 end
                 if length(R414)~=0       
                     [Probability_Matrix,R527,r527,R528,r528]=Choice(R414,r414,Probability_Matrix,Dis_Mat,x)
                     if length(R527)~=0  
                         [Probability_Matrix,R653,r653,R654,r654]=Choice(R527,r527,Probability_Matrix,Dis_Mat,x)
                         if length(R653)~=0   
                             [Probability_Matrix,R7105,r7105,R7106,r7106]=Choice(R653,r653,Probability_Matrix,Dis_Mat,x)   
                         end
                         if length(R654)~=0  
                             [Probability_Matrix,R7107,r7107,R7108,r7108]=Choice(R654,r654,Probability_Matrix,Dis_Mat,x) 
                         end    
                     end
                     if length(R528)~=0   
                         [Probability_Matrix,R655,r655,R656,r656]=Choice(R528,r528,Probability_Matrix,Dis_Mat,x)
                         if length(R655)~=0 
                             [Probability_Matrix,R7109,r7109,R7110,r7110]=Choice(R655,r655,Probability_Matrix,Dis_Mat,x)
                         end
                         if length(R656)~=0  
                             [Probability_Matrix,R7111,r7111,R7112,r7112]=Choice(R656,r656,Probability_Matrix,Dis_Mat,x)  
                         end  
                     end   
                 end   
             end
             if length(R38)~=0        
                 [Probability_Matrix,R415,r415,R416,r416]=Choice(R38,r38,Probability_Matrix,Dis_Mat,x)
                 if length(R415)~=0   
                     [Probability_Matrix,R529,r529,R530,r530]=Choice(R415,r415,Probability_Matrix,Dis_Mat,x)
                     if length(R529)~=0  
                         [Probability_Matrix,R657,r657,R658,r658]=Choice(R529,r529,Probability_Matrix,Dis_Mat,x)
                         if length(R657)~=0  
                             [Probability_Matrix,R7113,r7113,R7114,r7114]=Choice(R657,r657,Probability_Matrix,Dis_Mat,x) 
                         end
                         if length(R658)~=0 
                             [Probability_Matrix,R7115,r7115,R7116,r7116]=Choice(R658,r658,Probability_Matrix,Dis_Mat,x)
                         end  
                     end
                     if length(R530)~=0  
                         [Probability_Matrix,R659,r659,R660,r660]=Choice(R530,r530,Probability_Matrix,Dis_Mat,x)
                         if length(R659)~=0 
                             [Probability_Matrix,R7117,r7117,R7118,r7118]=Choice(R659,r659,Probability_Matrix,Dis_Mat,x)
                         end
                         if length(R660)~=0  
                             [Probability_Matrix,R7119,r7119,R7120,r7120]=Choice(R660,r660,Probability_Matrix,Dis_Mat,x)
                         end  
                     end  
                 end
                 if length(R416)~=0    
                     [Probability_Matrix,R531,r531,R532,r532]=Choice(R416,r416,Probability_Matrix,Dis_Mat,x)
                     if length(R531)~=0  
                         [Probability_Matrix,R661,r661,R662,r662]=Choice(R531,r531,Probability_Matrix,Dis_Mat,x)
                         if length(R661)~=0 
                             [Probability_Matrix,R7121,r7121,R7122,r7122]=Choice(R661,r661,Probability_Matrix,Dis_Mat,x)
                         end
                         if length(R662)~=0 
                             [Probability_Matrix,R7123,r7123,R7124,r7124]=Choice(R662,r662,Probability_Matrix,Dis_Mat,x)
                         end  
                     end
                     if length(R532)~=0  
                         [Probability_Matrix,R663,r663,R664,r664]=Choice(R532,r532,Probability_Matrix,Dis_Mat,x)
                         if length(R663)~=0  
                             [Probability_Matrix,R7125,r7125,R7126,r7126]=Choice(R663,r663,Probability_Matrix,Dis_Mat,x)
                         end
                         if length(R664)~=0  
                             [Probability_Matrix,R7127,r7127,R7128,r7128]=Choice(R664,r664,Probability_Matrix,Dis_Mat,x)
                         end 
                     end  
                 end  
             end  
         end
     end
 end
 
 %-------------------------------------------------------------------------