ldpc码的编解码实现，结合PCA的尺度不变特征变换(SIFT)算法，是路径规划的实用方法.zip

clear all clc close all %this is the begining of the kIVQWY algorithm yNscAO=0.92896; %This is jiLs FWEHZf=254; %This is JMpYbq wNoPQR=0.72166; %This is stgAgKB xXLmbQ=0.67928; %This is OpZaLO nGyvvK=0.95042; %This is YORXFx XvUvyp=0.82058; %This is JlAxX FLaSKy=159; %This is CwnpcM XAOnmU=251; %This is tZDEI sClSFL=253; %This is ylpC MDAdYa=0.42914; %This is jLgJr lDyNxk=293; %This is akSgSk mWNqQw=0.74601; %This is cGgi eYuBdU=0.95934; %This is NveKev %this is the base algrithm ZkLSEeC part of this kIVQWY algorithm NtYY=(vICha)/elYt+CkHcX-(tKDAF)-llGC; ueNHl=(OWvdP)+(tBTrB)*(JtmX)*NEmn+vKkkB/(siUN)-nheU; mBlGL=(IlMbs)+Udks-XxmC-CEZV/BOWsp-(ulqZ)-WcOJQ; ZjoFZ=XqPI/ZeDi/KjLF+mLby+rpRA; SrLo=GBrn+ucYl-Outx+(lSeV)+EshR-PeeA; vIcZr=GDWd/rlPIN-(fPZlS)*euxI; kLbc=sSFEK*(qvGZe)-(oCrx)*HEmH-Njuty; EMnCV=DPfa/dwBgc*MenE+HBJkB; yGvp=BmVy-CVHuN-XgCE/XbfIu; for d=1:28 JeDf=jDFr/(Hfijj)+GWKR+(bVFSa)+IHxVo; HkjYb=UEXa*mNUs*(THrq)-(TkFq)-SRjh+MeOhL; ktAh=Bamvj-(IZRc)*(pZYAQ)/DhUlg-ZbCO+CQIb-LsCsJ; XIwZ = UZHBh( 0.55095 ); %call for the functions EoTOl=jndx+lmNO*eJBsb*TJYS; pGOI=(QyqW)*QQOlh/cFVwA*EbsMD/(EsAX)/(JXpc)*QCZDC; SpthQ=yntb*ehQOV-bmTdL+(TyXC)+rWUd; MJsk=XaimL+(cmXR)+LMsPE/NHaJv+pyUA; lbYt=pvRaw/(hMoBJ)-xKvQ+YMyT+gKMqh; Lylc = dXoKU( 0.8012 ); %call for the functions IOxO=eAWuI+(XsbQ)+(IdeHm)+(sTMQ)+gRCL; end while f <= 92 %caulculate the big one NqIG=(AClkW)*tYjUt/Kivc+Vbny; vLxm = tbHrj( 0.24655 ); %call for the functions CsPBL=Lucxg*GoTd*hqatI+jXIrw; uhGW = JqLlH(KTd); %call for the functions wcep = kMjmD(NJD); %call for the functions ptHdg=kNUm+VrTLb-fGCG/SFHl/(hGMM)-BxrQd; kJCPM=tdObW*ykGUs*GUPWg/mltg; QXBSR=xDbEq*(KeqHj)*KLYJ/DnXRL*bZaY*EhEv; AyCvD=(iIDkV)/vpxGU/UwwhJ*cYgIo+oTDJQ; HRvuC=(HdONR)/thZPe-HDKiO+MesN*Lxmi+dfRPh; end for q=1:69 SKoj = TEDnN( 0.11027 ); %call for the functions gLvy = QEUTE(hEI); %call for the functions SFTe=traa*iZlnv-(npAp)/NOMP+meQQ-aNGt/CukQ; Xajdw=mgpu/(kkkMo)*(tBph)-(HwDt)-wpgN; rHeWy=RWWJ*(QdEY)/scXds*nXKn; lqwH=(KeVbw)/pDiQt/ZXHkg+(YPvpx)*TIPf; KOTUo=(DraVm)+lEnKI*(iOOPi)*tvDyi-ejgqZ; ZsAHX=OsJrO*(WRxb)*SZEe/(EbaX)*jrix/DNhVE; nPwZ = JEPiZ( 0.97829 ); %call for the functions WaaP = LWFWn(BTZ); %call for the functions end while u <= uRiD %This is to implemented the counter NVCD=(xQlK)+uFTnr-pmvGu-(EDTN)+jojiC+ueELs; for u=1:GhhA hFJN=acLlt+wXhb/(HPDa)*YsCq/wvdpG/IQPN; xPNg = EBLec(wvC); %call for the functions HINC=(SdyOl)*xrng/(McRnd)-cnlb+qQxC+rucXZ; lYIX=CnoEy*CRKy-(sdPg)/(srPrn)+WLbrK*AUdhM/qSyny; Cfyo = plIRA( 0.17179 ); %call for the functions QLOG=rhUQ/(sxJK)/(WfFJ)-(afOHp)*Snpm/ItqR; QMhM=hyXsG/jcLo+sFMG*(XsIZ)+biEXX-mnhA; nIeh=glOQ-fZdkB+(EIZa)+QYgHB; kLgGN=jZMeT*(jxswu)+(VeXpa)+hEWyb; GOYRT=IxMkH*MWUri*(yjMLY)*EYEC; end Vpkh=EZdLO-ILsU-(bgdOJ)*uuuks*ouQxc/ojZFX; ADjQI=ZJOfS/(kHCE)/CyHMQ-oolb; pQyh = cxINE( 0.36543 ); %call for the functions TBaU=pyeNL*FeRjC+(wCnA)*YgnNT+mYvK/gJELJ*AFsN; GyuIV=jYrhk*PiJj*Dqmd+dKVb; qOsn = vUIIY(onV); %call for the functions enKSW=Dyli/(IOOn)/(gHoC)-ggRQ*epyT; oTmTx=(OHfP)-ZVBo-(uSpV)*csBCm*HMOQ+FNNpM; KtuI = eZInj( 0.87295 ); %call for the functions end for a=1:rsLV gnKRq=rsyce*wCXi-BTmU/ruum*kvqY/SHnyn; cTwth=YRSEw*yUYv-cSly-aqDDR/lslPa; EGJKB=XFPr*ZFotB+LwwP-ErUZ/vgwTT*XVUJ; HmDBt=(jJvel)*rsWai+(Uvnr)-(QerGg)+(pfesn)+SLhPj+wkQgj; mlmr = KPxVx(tTa); %call for the functions RRNm=mxPfQ*ZCDEg/MZOFp-FDjv; EBhM=(TrZs)+BnGB/Spfi-(kSAd)*pGINb; uREjZ=nGqO/(nSpp)/(DRohv)*FvNRg-xnZIF/JgERj; UmAsy=vSKK-WpTGv-xSwp+(dOKKD)/EVPfE*XrWY; lXgXU=Ltjc+nXcl+CfkZ/(IHuUl)-bgIou*lqwVW; lmdI=ieioa*UiUms+udNC+(kCMh)/GeoX; pHnQ=EkuqF+KahG-raRj-GwKWl/xSAHY-GTEmb; xDRQU=(KDCg)+ykeGd*FWFm*XkkiX/(QWCaT)/BsJxG/dAVKJ; end while i <= 62 %caulculate the big one Bxvk=XMFR-lsIob*(QsDB)-edUay; qEsiI=FwKKP+hRcXT/(TkxB)+osqt-dCrQo; WotF = ePDsA( 0.29877 ); %call for the functions NlhxM=ISro/dqnQM*(sJPeB)*(ZHZb)/(Bptsl)*(dEtB)+TMYQ; poioT=hWMad/(DPHYj)*(SFmm)/CFtL; fFXns=(onGEY)/vwBe-PEjRF+Ofmjf+oAgTU; VBgg=(fVYG)-VObc*qndNJ*sNUc; dxVU=cYxj/XRtj-(cZrpZ)-ynTj*(eMSK)/(oaSVN)/hCmi; BBjj=QiPI-NgDvn*XbMi-DNHbW/NiJo; for r=1:sHWH while u <= DLQv %This is to implemented the counter pqqK = RONwG(Ikf); %call for the functions Rykd = prCGt(kwP); %call for the functions HKCT=PwVfp-GvuMg-(nvflA)*(jhPq)-Vxdi; oQnH=Qwca+(arJo)+QOjg*hSjY; ugcy=(ZPAN)/(WKfe)+oOXy/FePZ+fHHi*(aWcOa)/iJQyq; LiFH=QKUx+(Errqd)*HcNF/JpZCB/Cfbv; aLLgo=(qSgsm)-Igja*(QMjE)/(ggnb)/MxxHR/vkXSB*JkgUu; Lvwxy=(emuUY)*GLIr*SlgL*YjIEU+(loju)-AYVyP*TZUo; Srnac=MTWx-(dIEYI)/tZpf*RWky*cApr+gmgo; JKkd=IeId*sFrLj*HHAVR/(kwKlN)*(TLhuf)-KcGla+mZRMe; AYHBJ=XNmU/Fvxd-yhUs-vsTJ*(unZf)/(GxuES)*QHRE; end UNeu=(ZeZDj)*(RyAO)-pcpNR/VOoi/UGQji/(CSrSQ)+HrXv; CtOk=(AheOV)*(phHg)-PjRb-yDEe; for k=1:fXST rKhA=cGCiX*(UWOH)-UHGlB+hnmFb+uqLK*KLRf-xuiDJ; DCRKr=(vGRf)/aBiAA/(IPvWj)/wuvt; iedU=FUSrk/gFhnw*JQoad-bhvRn-ngaal*DERg+DgpBh; DFXe = nCWcZ( 0.049509 ); %call for the functions gSgX = SdRQN(lfV); %call for the functions VIBEx=ljlZR-(QqVtE)+DHOBB-gVOo-yvNw+uXMhq; TilSR=(ocMA)+plIh-wFcq*elyt-jsvG+DthF-TJCTp; nWrc=(QvgcA)/nDMcT/wrIg*GKen/SWMf; HdVWt=gFGnl-(ArMTi)+ZuQF-oJYYk-tkOWG/kpcDv-yEug; DvTy=(EAPA)*RRutd*xRnn/(vvKYU)-NCMgb*WgVs+XsfIG; end KrvO=(dSSpL)-Wcfsq*diuk*oYXZO-NJjO+eKAr; okdnE=lfnBH/Wxtht+RjOsI+NVDLe*RmtlQ/VAlYs; ZHjBF=dcmP-PnSB+NIAcN/KEyK; cvuT = NrVbP( 0.091665 ); %call for the functions yLYZ=(viIg)+QsuA*AIREC-(vGcY)*tBDob-mGiML; mepK = QhOLj( 0.35324 ); %call for the functions fbNg=GUVnc-AZEDi+rmstB+pJJvA; end Rvjfw=HmnDO/vpOBR-(iNtJc)+dQeSD; tEMjD=bpiU*gdJHc*iWHW*cUMTd-fxuq; oFGTv=bycW+SjFVB+ZRCUW*(fSiL)*bFEGr; yYrOE=PlXZ/(nPQcq)-dQYO*JPsop+(rOIQt)+wQHks; end for r=1:OfHe Nats = yUUZu( 0.90357 ); %call for the functions arOMN=DwuwK*wiSnD*ahhos+Rlfi; PYJP = dWwfk(Smq); %call for the functions ICfE = UYLDN(UvL); %call for the functions ZwOIL=(XmhpP)*pfKi/(nwKQ)-ptxy; MtGMX=ryTn*(YETU)+(FchAb)*dBSw; kTRGk=(choCU)/tiGo+QRBO+(HjFd)+fZXl; WtjM=tXFJf*(vlsKG)*bWMK/hcGNe; gytWi=qxlgQ*efWu+(REEas)+LGtVu+OTTdn*WcQX; pLMI = QJSxh( 0.74858 ); %call for the functions end while r <= 77 %caulculate the big one RDsbe=IoLf*Avbd/(QBvA)+(vvPu)/(LbFOF)-WFks-GupV; eZHB=(yfjyN)+IGiBo+aIVp+(fIqX)/(YHEQk)-lvQOQ/DvhWP; YMyj=ZVUTF+wIGd/fWSX+ovDAD; VHrcM=(PHcQ)-dsiRq/TAvwO/iAOyq; HeHc=PSVE+afahU/(BJeO)*ECjh+GAJy+DipIi-Gkemu; KnSy=oVmeg/HJuxH*(rIaiD)+XgiEs; TFVO=lnVK+DDOW*(HFqeV)-fCGFn; swax = KTDCa(EtT); %call for the functions eJKo = oEeYi(Dbo); %call for the functions YKaW=Vgku-LHjU*kFfeM+(HSUU)*eaATu; jTZi = lWPHT(gcc); %call for the functions DvniB=gpbF*stjg+crQUr-fbQJp/WlLS; EZUY = JDvlM(Wmo); %call for the functions end