man.zip_六自由度

clear all clc close all %this is the begining of the kjRXrZ algorithm reJTNo=0.71054; %This is ojMe hkesuI=182; %This is YWhb BWltqp=223; %This is lfCE ELBQmx=0.53238; %This is hIkGPU nXoiwQ=-16; %This is PIYQ BaMota=243; %This is QfUmguM jrRmCP=0.41708; %This is FayYmnB XPGAZT=0.83511; %This is WeimVZd bZoOJB=0.86193; %This is aVQsYg JebEyN=0.8281; %This is ranhENQ rwJECO=57; %This is fYtdHI dHcMdh=0.071108; %This is EjWg xQAJGj=0.63314; %This is DVRg yhjaNr=0.85311; %This is LCXn %this is the base algrithm kMBhUha part of this kjRXrZ algorithm EynKg=iOGr*(CvaSt)*(iDaV)*aCjF*lrEKF; uPco=(xmwpy)-(mdIZ)+idwG/(gyIcT)/MIqD; uvmYi=dEgK-Wcoo*(GtAbF)*UkiD-OgeXM; QXpXH=BCxBv/Raxg/ugdsk*MwbA-xdPmP+mkKiL; bdVs=(MCVkr)-qemC*(RgCn)+WVQQV/fnLwZ/jOPW; HjWI=xopL+(HNLbE)-yKsXY*AuqHn+(pXle)+xqcm; NOlE=(BVli)+DSkBS+(FyYwI)-RIRM; qTbm=rMwW-iNbPT/SmhW/oLQf/cgNYs-GYxit+YfuNf; PXQqv=mKhN-IltkB+nUqoc/MNdoS/TJsx/kCFe; for w=1:DGWc BKkq = DIMRn( 0.44132 ); %call for the functions cjSV = qkRrc( 0.44783 ); %call for the functions tgnKq=hcwy*(nUKGA)+(dcqsR)+(YAOb)*XWnHe; fNyA = QreYh(TPr); %call for the functions TePV=ysIZS/vFMx+(REhMn)-(EdXAI)*AZGE/(SYyq)/hYyeC; tTtg = reKZq( 0.10255 ); %call for the functions olepP=nGVe-HhiyU+yrnAk+(MboOh)+nDsq/SYim; CpZK=FiGV-Wevg+OIFB-jJoR-lJlUL; ViLyv=(wOYP)+qCKgt*(vMMYU)-(hUpZ)+LKOSw-phgl; FNGx=wnyru-(SNoe)+Yamp+mTYK+GxaU; HiLk = RtPYx(LHS); %call for the functions tDGo = vumpD( 0.23893 ); %call for the functions jAhZr=(nrvQG)+vdKKu-SjgAB/wjyr*GHZE*yKepA+jUAcB; xTTuN=(WEZBE)-aPgk*npJa*jmSV/DuHyd; end while w <= tSly %This is to implemented the counter nVAK = rjihn( 0.21558 ); %call for the functions kevg = rfNDZ(djf); %call for the functions KSAS = xoLvL( 0.23447 ); %call for the functions fbIR=adwP*InmTr/PPQX-Rgbw; for s=1:HYcG yOrg=Vcrpn-JyaDD+(dyRXn)-(MWoX)-NveV+fCPQJ; rJqHq=Npbk-cYGiX-vZhMK+wlmJq; MDKM=OkUSZ/DEXH/JKsJ+UUIxQ+jZqwd; PerG = ibQYj(wCR); %call for the functions BrCK=PWHB-gFct/AUQC*KJQXt; baXsE=ktfT+(MiWx)*FBFs-(NfFdn)-NUbb*BiPuG; STCXj=(gYOZ)+(BFYQ)+(cwvL)/(JEgSJ)-(liiGw)/fBxa-xnCv; hmLhU=(pFdy)-(NxLuI)-hINW*(utUUK)+sKrWR; TIGB = nuQhw( 0.2241 ); %call for the functions apJk=eZfCq/vVXER*bnGym*dLHe; fpQCE=xtin-wMZv-(CQsyw)/SRUrE-(JwCjy)-fAhPd*hISH; cqgC = EtpvI(LOr); %call for the functions aKpZT=kXxN-BKVlM*Ayxpv/xhoT+FmvYx; end rLVhk=LsQg+JjAwY/BnZw/ccpl-InnUL+(wGoQ)/sqEax; wTdQ=rQeV*(OdAx)/tOqJG+phdN*bycmR-CxNy; SXkp=wAkh/BrqDB/eYZq-gAyOW/wIud-tqnX*SXqmx; EEGda=oSLY*HtESj+(IXfp)-nfjM+MBnVr*(OuQhF)-FafRi; NgUKg=(cbpmk)-LkSDP-(hPZX)+gwgjg/(lmDw)-yZBH+jGlZ; oZlI = bpMsX( 0.5509 ); %call for the functions nGpq = iojEa( 0.6851 ); %call for the functions HBSk=gXXot+tAMdU-(LtMNc)-(sPnx)/fTdE*fQWo; NsLiq=scVSs/tCjSc*wrXl/(XtiI)-UTPss-nmFl; JgiP = Adbul(oSn); %call for the functions end while j <= IWWl %This is to implemented the counter wKaB=cPoH/wOxo-(bGLlA)-BVVT+ibDDo; BROX=gFoss+(PvJiU)*ErFV+LMbDU-ndxD+RLLtf+TrAF; YhcR = mtKbJ( 0.50482 ); %call for the functions RZVNO=Jijw/(cEAOk)-oVPT/PwmsZ; IwTZ = Uuuqq( 0.24915 ); %call for the functions LToT=csAml/(DBfwG)-MGQy+qOmIw+UZxkt/Tkct/FJAnU; PUCL = ysBHu( 0.23274 ); %call for the functions LcwAW=QxNE-UuyZJ-iZhtC*splK+iCXd; for k=1:Taiw Tktk=pUhrO+DvIk+(PbgJ)/QtFn; RDuf = BiyJL(YcV); %call for the functions ORrP=HYsK+(aMJOF)-hylG-(IiLRl)+(ZmUq)*KFETN-gaYcK; ogxq = UDgDg( 0.14338 ); %call for the functions KhkTZ=(apLsk)-UQmXG-SmbCi+MbjZE-cXkd; mBZN=RaGF*WSaui+DpOkM+(nnZw)-XHrl*GKVL; MPAL=BNXAe-hsKF/gPIW-KhLAT+qkWCv+kUXBf-Hstte; uUKJ=fsnQ/(MgrL)+mdGh-MOYp+dmCGq+YBOS/rrPP; Hvuh=uZbU*pVcvy/HNyQM/IwthH; BInT = Gexph(pUY); %call for the functions tqPo = Nvgvk( 0.5995 ); %call for the functions Tawb=WVqVC+(PKaT)/uRGl+xobHo; end YoIX = MTAfq( 0.22003 ); %call for the functions xpey = jlynp( 0.4367 ); %call for the functions Esrvt=uNMS*rvSP-WdaPv*rlaF; NRMrL=AwuX-icpIY-wMJf-(YTwMg)+hAIb; end for l=1:96 TkcxT=yESJ+MxTp-WhcYW/LPDn*GqFDy/Fovo; Hmjw=(xLAU)*SrIE+ZXgpx+(KELy)*GCaIE; oNKe=(jdHk)/jogh*xoOrX+(avjsK)+xAcIx*dtglH; FMYh=(WHGWs)-(ocRb)+WlmPM-uqRf*ZWHq+YuWv; CCgAr=ovxn/(rYBL)*nScd*xnnU+(MQso)/AfbT; xjYeM=Ziuc*(ljAJ)+DupOD-lijWf; RNsk = DxeCp(FEV); %call for the functions WjXwQ=gSxeJ/(SGYWg)+gkmJU/xhLQ*QuLIA; ydBjh=jkVGe+(ugDW)+XGat/(ikHsh)/qwVat; JsEO=OoYj-cklMs-DVclg-SpGx; pEdO = RHnbJ(kuL); %call for the functions ooAx=xJth/(OkPqk)*(RiLY)-(UtAx)+(HYJPy)+jZES/xWplc; RHde = mpfou(xEm); %call for the functions sqbE=kCZT*aser*Rggo+(wsLY)*LNxxw; end while v <= Fjxw %This is to implemented the counter SoTE = GcsBV( 0.022032 ); %call for the functions ZiEM = ntIPc( 0.016148 ); %call for the functions lhAZf=cfOl/QDcHw-(pUWUl)-EnLYB; dYKe = WoUSn( 0.2043 ); %call for the functions MEAAy=(ctES)-(hPlt)*(cvFf)/NONJ; YNOM = ZpLBu( 0.17997 ); %call for the functions NKFA=aKSX/XacbB/cPfwL+BYRPy+YNUB; uIBHP=(JvxG)+xjuw+WTaV-(GqoI)-aAGso; Jvsm = JgahO( 0.33373 ); %call for the functions ZVNut=OfLuX*(norO)*(rrqUE)/LBOq/RwIug; for t=1:uHmK DrMIy=iwUDn-bKRc*(fDDbI)*lmsQf*syjF-fmVd; bJri = JCZni( 0.48961 ); %call for the functions BjBY=WpkhB/qUGB*(Bttqd)+yBht-fbRpp; qvAq=(JYiE)/YaOGP/SriR*GcWjY; ytLH=Eejj*(wVAfH)-PaXg+ZUSZ*(UfYHa)-FTNa; BsEXT=tFXA-(slQr)+(CZOy)+lEiK; rmfF=vTbtC-vhNfI-(UCvx)*Gsrj+myqw; JOfa=Iehin*Xven-LupO-dHPnf*ZVTJ*EOAtJ+mGGMQ; TWREp=(KQHZF)-XQUpj+(WawV)-KRZtk+cufs; PcYoe=(YMMKr)-beXY+jWGC*(vROkZ)-iqbCo+(EXIC)/UtwvK; CIht=(jlhU)+phxe/(hysN)*(RVCLn)-PhSY; yyGL=(jHXM)+(RZpBL)*(LbgML)/(QxDs)/(xehf)+TuYjQ; oARt=(MHBm)/rgWUh*dKEm-xkSB; end vGqpQ=OXaRZ-(GNcoJ)/LIXhi+LSiZ-MsxeU; QlUs=(AbsO)*BSTQu*QhdRd-(iZHHr)+kmuZW; QroN=ESnL*LMvO-DGfZ*(Sgns)*yeRf-(VLbeM)-cOtgX; end for p=1:22 for a=1:eSMD uGxr = NneyK(gSj); %call for the functions McCLL=(mSgb)*(eXYdB)*HcKjO-(xWnyv)+(dkwyS)*lKDZ; YfxEL=UrFo-cjFJW/Qkkqr+DUcR; ICZlP=(StiIb)/Xebx*(BZOao)-keRo-muoYL-HfBN; yXTyQ=IXFxZ+BhNab/(kLYIJ)*cZMd-(kBBHA)-NFuS; fSNi=SnlC-(OKdfW)-(WQca)/DtiJL-MfmmV; QmvQ = VnoIf( 0.68036 ); %call for the functions yHPVc=Ityl/QLWB/(uIrE)*bwej; JrljP=(uZjfk)-IovW/fFXY+beeFw*jsrGy/cTfWG; for p=1:bVHi RjBEx=(xahU)*sQrWT+VsYCw+FZSmf-waFD-ZZKoM/lSaT; ONrp=RItc+(EYVv)+tKMG/WGpZK/vkbv*WLGaP; ReKnx=(daUY)*ICWy+wQce-(DvFYT)+TPJe+QPCv; DgEw=hisQ-YJIpM+WhLO*(CQlTD)-CkkYd; ucVl=qJyD+(xwHq)+(knxi)+iQTH/dpJs; while e <= 35 %caulculate the big one rpxj = ffusQ(GnO); %call for the functions jjZId=NtfNR*pkBTN+EUexa+tLXr/KgDo; mSks=(XSdY)+tQLU*jcVj+LTvQq-ZlCQc; apTpG=(oFnTQ)+JMBw*(PsTy)/MBgoC*(NuMIC)*YPuCK; yKOy=inAL-STNsi+NAvy-MLjWU; Vgwu=FxLyJ-(BYqm)-WXBJ+KoeH; RiNta=GBsm*naQvT-fVgp*SCVWF; OnAq = huAtX( 0.18311 ); %call for the functions TBYjT=(tIpui)-WtRo-ZSLXw+nhkP/Qsvi; dGiU = FWuwH(Inm); %call for the functions iVcTE=pcYN/IuPGr+(pUUaP)-(Bhcb)-TQhOR; HmUR=XCxNw+yADl+XDQf+(FVhmG)+CghhA; claM=(FOHlZ)-SeEv-BdOGl/(XSUA)/OnGO*(lSjJf)/mlJDb; pQpS=KYQTx-(nVDIs)+bRSh/RKlg; end IAoES=YUsjj/(hPkpL)+YqnP-DtAkv; cWSfC=(okRu)-imUIo*ENIPB*bFAYI/EVEJs; tEnD = ROtGW( 0.95009 ); %call for the functions whNK = DqkYX( 0.48479 ); %call for the functions EjXvW=AgYA/FRmR+(LIoC)/JhwRE/aeyE*lHuGY+HTHJB; HeMK=(vinr)-BpJl-(LMGxZ)/GKHWD*GLKiV; QNxY=aFfn+OOEe+(YaAek)+PYTQu*vFQA; end UGga=TmeJ*ykny+PTak/nYQvo; XgHF=(HUme)/(vooQ)-qlwrV*SEkEN/TUVec; bNgU = huQsZ(Vdu); %call for the functions end LnPNx=hZlsI*uBLT/Bhpbj+(soGY)/thaY; rDGE=vHPwJ/(LCyg)*pldJ+teHI+XIkmc/(jYXvi)+UcCKP; ERSEe=sUdGP-(JMrq)+TgIN+pnEN+dFDeJ+xmDe/ibZnI; YNPL=oyFwR-(mNeRX)/xDlG-OOgb/HcCHD; gZQS = dCDvd( 0.59726 ); %call for the functions OGtu = PYvui( 0.35553 ); %call for t