MATLAB发布代码

2023-08-04 04:02| 来源: 网络整理| 查看: 265

1、前记：

发布 MATLAB® 代码文件 (.m) 可创建包括您的代码、注释和输出的格式化文档。发布代码的常见原因是与其他人共享文档以用于教学或演示，或者生成您代码的可读外部文档。要在 MATLAB 编辑器中创建同时包含您的代码、格式化内容和输出的交互式文档，请参阅在实时编辑器中创建实时脚本。

2、步骤----打开要发布的代码文件（m文件）-----点击发布----选择编辑发布选项。如下：

点击输出文件，选择格式和修改地址，点击发布

如：源代码为 Robotics System Toolbox中的机器人运动 (3)中的例子

%% Waypoint tracking demonstration using Robotics System Toolbox % This demonstration performs inverse kinematics of a % robot manipulator to follow a desired set of waypoints. % Copyright 2017-2018 The MathWorks, Inc. %% Load and display robot clear clc robot = importrobot('irb_140.urdf'); axis([-0.6 0.8 -0.6 0.65 0 1.2]); show(robot); axes.CameraPositionMode = 'auto'; %% Create a set of desired wayPoints wayPoints = [0.5 0.1 0.6;0.5 0.4 0.5]; % Alternate set of wayPoints %wayPoints = [0.2 -0.2 0.02;0.15 0 0.28;0.15 0.05 0.2; 0.15 0.09 0.15;0.1 0.12 0.1; 0.04 0.1 0.2;0.25 0 0.15; 0.2 0.2 0.02]; exampleHelperPlotWaypoints(wayPoints); %% Create a smooth curve from the waypoints to serve as trajectory trajectory = cscvn(wayPoints');%在点之间创建轨迹 % Plot trajectory spline and waypoints hold on fnplt(trajectory,'r',2); %% Perform Inverse Kinematics for a point in space % Add end effector frame, offset from the grip link frame eeOffset = 0.01; eeBody = robotics.RigidBody('end_effector'); setFixedTransform(eeBody.Joint,trvec2tform([eeOffset 0 0])); addBody(robot,eeBody,'link_6'); ik = robotics.InverseKinematics('RigidBodyTree',robot); weights = [0.1 0.1 0 1 1 1]; initialguess = robot.homeConfiguration; % Calculate the inverse kinematic solution using the "ik" solver % Use desired weights for solution (First three are orientation, last three are translation) % Since it is a 4-DOF robot with only one revolute joint in Z we do not % put a weight on Z rotation; otherwise it limits the solution space numTotalPoints =40; % Evaluate trajectory to create a vector of end-effector positions eePositions = ppval(trajectory,linspace(0,trajectory.breaks(end),numTotalPoints)); % Call inverse kinematics solver for every end-effector position using the % previous configuration as initial guess for idx = 1:size(eePositions,2) tform = trvec2tform(eePositions(:,idx)'); configSoln(idx,:) = ik('end_effector',tform,weights,initialguess); initialguess = configSoln(idx,:); end %% Visualize robot configurations title('Robot waypoint tracking visualization') hold on axis([-0.6 0.8 -0.6 0.65 0 1.3]); for idx = 1:size(eePositions,2) show(robot,configSoln(idx,:), 'PreservePlot', false,'Frames','off'); pause(0.1) end %% Plot joints values A = cat(1,configSoln.JointPosition); clf figure stem(A)%overview %% Joints joint1=A(1:40,1); joint2=A(41:80,1); joint3=A(81:120,1); joint4=A(121:160,1); joint5=A(161:200,1); joint6=A(201:240,1); figure stem(joint1,'LineStyle','none','MarkerFaceColor','r','MarkerEdgeColor','g') title('Joint关节的值变化') hold on stem(joint2,'LineStyle','none','MarkerFaceColor','g','MarkerEdgeColor','b') stem(joint3,'LineStyle','none','MarkerFaceColor','b','MarkerEdgeColor','y') stem(joint4,'LineStyle','none','MarkerFaceColor','y','MarkerEdgeColor','m') stem(joint5,'LineStyle','none','MarkerFaceColor','c','MarkerEdgeColor','w') stem(joint6,'LineStyle','none','MarkerFaceColor','m','MarkerEdgeColor','b')

发布后生成的PDF文档效果为：

3、后记：figure图框的利用---打印图窗、点击箭头修改图占框大小、插入图例修改data标签，以便给论文提取所需的图。

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