qfindinf.m

机器人控制仿真程序一书的所有源代码

function [axs,wbds,prob,wbds2] = qfindinf(phase,bdb,flag)
% QFINDINF Read bound info vector. (Utility Function)
%          QFINDINF finds the information that is stored at the end of bound
%          vectors.  It is also used to determine the axis limits required
%          to accomodate all the bounds

% Author: Craig Borghesani
% Date: 9/5/93
% Revised: 2/16/96 10:49 AM V1.1 updates
% Copyright (c) 1995-98 by The MathWorks, Inc.
%       $Revision: 1.4 $

dbrange = [-250,250];
[r,c]=size(bdb);

%%%%%% V5 code
% Reason: undefined variable
wbds2 = [];

% find wbds and prob vectors
prob=bdb(r,:); wbds=bdb(r-1,:); wtemp=wbds;
prob=sort(prob); prob(find(diff(prob)==0))=[];
wbds=sort(wbds); wbds(find(diff(wbds)==0))=[];

% determine necessary axis limits
if length(phase),
 ymin=500; ymax=-500;
 r=r-2; bdb=bdb(1:r,:);
 xmin=min(phase); xmax=max(phase);
 for k=1:c,
  bdbk=bdb(:,k);
  z=find(bdbk>dbrange(1) & bdbk<dbrange(2) & abs(bdbk)~=248);
  if length(z),
   ymin=min([ymin;bdbk(z)]);
   ymax=max([ymax;bdbk(z)]);
  else
   wbds2=[wbds2,wtemp(k)];
  end
 end
 axs=[xmin xmax ymin ymax];
% if length(wbds2), wbds2=sort(wbds2); wbds2(find(diff(wbds2)==0))=[]; end
 if nargin==3,
  ymin=ymin-5; ymax=ymax+5;
  axs=[xmin xmax ymin ymax];
 end
end