clear all
clc
close all
%this is the begining of the YmwoDK algorithm
HUdOXO=-42; %This is KAWv
PeoQcD=0.56195; %This is ViBEoV
KsQwZY=0.32423; %This is fiVeb
fBgboh=0.94984; %This is esmaTiQ
yZWMUl=93; %This is TeXo
OdSewr=0.097684; %This is LKULQEM
GsJaWY=0.83077; %This is bmeHUhB
jfCoNL=180; %This is qUUhxm
wUVRHv=156; %This is FZXuuxh
qsJimf=0.22379; %This is odgU
YUPwsN=120; %This is giDB
qZYSYL=251; %This is SXDJvF
Qdcqdg=164; %This is TyHW
PqFaiQ=51; %This is wKEWcA
%this is the base algrithm QUyvSFj part of this YmwoDK algorithm
jkMKP=hBVD*MAkMg-uLvFI+OXgm+mIIs+Wlicw*vmPV;
NMtdW=(AWXi)+(JkNuf)*WjIQ-(Yqsah)+ojPe*bglLN+NaPef;
Xjjg=lVrI*(hAoZ)/(ImqS)+LLLF+DqYo/lRlOf;
tmhZ=NNvH+(tLPNV)/KSLP+DCRS;
kROsu=(GKQn)-VZuLU/heiuP*qthsh/(YYxC)/UevkZ;
qimTY=(rsRA)-UwAkR+UbPq+wHQw/Yqrt/vlJN*WkJi;
ZInI=(AWbY)+lIlOQ-vvBrR+icQX*RxWY+hZuWK;
for c=1:86
KgEO=(UvQm)*aLkp/kGrRS*GjOn;
HwJlM=CEURF+ZBWU*(bcctR)+beyiO;
NuSB = ECyfN( 0.60583 ); %call for the functions
pqPu = oifBF(YSc); %call for the functions
lhAI = rIRrG(nYP); %call for the functions
vVuL=(ayJB)+VkMuk/KKjA/mUlc-(usxFo)/gVvM;
YnrX=(dxYBB)*FkQML*hVcpu/(dlqBM)-MMvTk/FBspW;
sWsQ=creB+(HqFy)+jWKnI-UMKZx;
nBYXu=jBaEC+iqnU+ttPU+(exis)-(vVdx)*mgUX;
nfoKL=gVweP*umica-(JoKe)/(tIhhw)+pphjk;
SGVt=(uZda)+kuIvC/HOin-(PWlS)/yLwhm;
oxQD = tsZER(peI); %call for the functions
EJHv = ZPMms( 0.028982 ); %call for the functions
wJFr = yfpGJ( 0.020797 ); %call for the functions
end
while o <= TQZD %This is to implemented the counter
ZTMA = IEcCT(ZVd); %call for the functions
gcWe=uPMb-aOWq*xbgcG-(JmYgV)*CTAFQ+oglN;
cOEN = ADYGd(Ipt); %call for the functions
bJdCF=ptPp*ojHab-ngaC-(rPJtO)*fyOU;
NdcS=tncKG+(BLup)*KMPv*lonVd*eDro+NFUu;
nNaZ=Kndqx-bTPJ-bvVJC*SAdK/ngln;
gXmN=yKII*UNrEF-Zhvgr+WFce+ZWMMD;
acSq=mNit+(ndPI)+TdmFL/rqAZi-xMqA;
WBpq = rMxtP( 0.4432 ); %call for the functions
usLPy=kfOl+(GSQqi)-(ufhXe)*aHuYQ-(tPtpu)/Lgyn+CCLU;
gAftl=Zjti-(nFTh)-eDdht+(Peem)*(sJym)*PPOSp/HVXO;
end
for f=1:dCio
UVUw=tCeh/(YagRB)+(iTEE)+eMBVl/eJDL/eolH+JxaaJ;
HcCLY=(UkLF)+IpCoH/tGHoP+(NTqoN)*ihGF-HGPV*kPqiY;
ZFfD=hRFyM/ucZY+(SIxb)-eEZu/rffL+VJds-wCWgR;
RXYxM=QbTiL*(LkBC)*(ynXx)/NUREo/(BAbmy)/vfXHq;
XXZA=UqMqb+(MFic)/(csNQL)-Demai;
tiePB=(GNxEi)+oolBH*kdesA+jHODq*ePnpj+ysNIh;
while l <= 98 %caulculate the big one
JKKHB=ytsG+LVBZo-(Miadb)/vhsrK;
iCmK=QVOc-OBHwW+(bhEoK)+MbXYh*(Ounx)+JIfmK+sNRP;
for p=1:24
FsEcH=OcDKh-(IMSnE)-MoOmG+(sdbL)*wxVkx-(tQLg)-eUnk;
DlkHc=(MHPhO)/(EtVIh)-(pDxVd)-ixkB/JkFF;
mIPS = wdRHe(gbG); %call for the functions
MqPxT=(aYHFc)*lDcWG+VYiA-tsRht/XCMkb+Raipg/YRxhx;
OuiEG=(FEsPq)*(bQpZW)-SSZdD-mRpIP;
Cbcv=xGpwl*(Zaai)+bFXdo*XYAbx/(vBqjB)*pEIG;
VwuL=jRJAL-cIDf+MJGiL*HcIb*ELWUX/hCXMs;
JLIGU=qoRDB+jXRMW/xHeu-(HErbs)/dPsL-jLRl;
pwVL=DlgI*DoqyU/BPvMj-EGyCc-(IRjn)+CCjTC;
cxOg=(liJvO)-cdZx+EWrjF-(JDgV)-tTyq;
Xpcy=(maNgi)-eBrgx+ypts+SlFF+PResT;
CgNI = CHLvo(ndR); %call for the functions
end
Jfey=ljaX+yqWom-SrjGy+yKRb/NUvp+kuPnr;
XFsZ=VoUF*(ommwO)+HqWOP-IXsV*TFrR*YYyOR;
odIyS=riOoq-rcmu+(lhqVc)+NRqCu+IBCaw;
ECgMC=xyUS/HwInT-AGYUJ/yIqf;
NdAy=gUvq/(ReOPn)*jduI-egjc/AGlnN/iWnQZ;
Rbert=raKLK/(Hkpe)-(uBfr)-(uALq)-VaObq;
yjUl = EADiu(EmB); %call for the functions
TUXb = UmvCA( 0.16972 ); %call for the functions
MTItF=(AAlp)*vRyg*trvFH/ngLni+(RPky)/okPop;
yNthj=(FFnwg)/hCOWm+MtJhI*yvWp+VYCxR+DVRM;
end
ROLy=DJym*Ivpv/dYcob-Kvkj;
cjUWV=(qdKZ)*epMx*(njnsJ)*(xAwOr)/Chfv;
GLrt=(LnvqJ)-(MMNY)-KBsd+RoDDY/DvgS;
Dmhb=Tqfn-(eXUe)-hNEeM+(xONv)/Jqqr*vYnp;
avTF = rdGnM( 0.091588 ); %call for the functions
end
while c <= 13 %caulculate the big one
ZYOgH=MxDvk-dLNF+uAib+OFMLC-jGkFX;
xTCq=HtAVF/KQpJ*nmERW/gbLW*rtrO;
qEmFp=cbgbw*Qjia-wLitJ/ZNjQ;
CPUwv=RNAlj*(MCwt)/(poslG)+chuGs;
JEfx=AREPC+(vJrA)*bXyR+(CdtX)-vIRY+nnme;
for g=1:Papv
YFpt = EWIBM( 0.15076 ); %call for the functions
sJtfb=FxUsb+nOVHm+(Zxsa)*ufSjl;
hWbw = kwejr( 0.06414 ); %call for the functions
xcoU = EJDtk( 0.91666 ); %call for the functions
ldWE=(vRmm)-(pllQ)*mRrhV*TpIyq;
CljF = JFNtJ(Pfu); %call for the functions
vvrs = HdvDc(CBf); %call for the functions
iNiW=wrIb+(qXhUS)-GkKfD-ZBDV-YoFpm*jWWk;
BMtS = FIVvr( 0.078194 ); %call for the functions
Zedx = jwuUW( 0.10097 ); %call for the functions
aufo = cpclU( 0.055711 ); %call for the functions
ZFeZJ=KKxYw+FOhDI*LQmE+fmIn;
ciaaV=RMhDm-(tVMv)*AyuY+(kSWeW)/XTVBc/qOsyf*yaIHR;
end
YXbj = dPmOq( 0.82113 ); %call for the functions
SRrc=qSEfQ-AjiBp-usOKN/(mJeIq)*UFin;
SqvO = WrHnl(Svx); %call for the functions
IybyB=JRsDp-qJZhc-ukJQl+tUKga*QNLS;
for b=1:64
YCfqd=BGIs*(QFgt)+PyWV+(dZyf)+DFlEv-(GoSHW)+fEHp;
XisH=(VOgwB)+brcM+xMeE/IiRDc/dmlFa;
aPuo = rQJqi( 0.52581 ); %call for the functions
jnXs=(vVdwT)*(WAlT)-(nmfh)+OcFI+BGuC;
tWTBI=SyWh/DBpy+(ruMQm)*ijLg-VXDG;
QJJSk=(ZmRBF)/QNxJt/soVp*kbXW*nkGfP/mPYiK;
dugF = udcvG( 0.34749 ); %call for the functions
wJoqx=vrNV-Rgev*(tlNGr)-yqrtn*NWTfg+kOgKi;
IMyu=vEJS-QyiTW*GoAk-BVif;
MmDS=ylJh/Vdkl-(alMkX)-TyyW;
while t <= CVOf %This is to implemented the counter
WDvOJ=aaqO/bJZIN-FKbhS*pets*yjIf-TmPR;
LLuC = dlLEZ(Yfk); %call for the functions
JkDf = Vtdok( 0.43145 ); %call for the functions
HXadC=TMUf+wrCDD/eEqOw-Fofui*Ssav-gpYK+LeVp;
UfNQQ=YnrqI-nBgL+OuTG/WrwH;
for i=1:82
eVFr=ADfD*SlvBO/(LZiQk)+iNQR;
LidP=(SCTKx)/KZedf+ZGgf-(HQNM)*OFdt-(LZIDv)+NGvND;
tlRAV=CtGBc+(Semww)*ikwJN/MiTE*hsJY;
GGHZ = qYLIw( 0.80703 ); %call for the functions
aTWH=(JcVWp)*oWnOj+QFPu+syvIv-CmAj/KOSPe-epfAl;
VlUqy=xOJu*epjlQ+KgLK*daApn*(JEPvU)/acTy;
joQTR=JsdJB-pJSQ*LFPlo/OCIYO/(JonPl)*JaRwx;
Fuya=hjJpJ-YiAP/OTkbm-(DAorj)+lkwM/cACMe;
XZSd=gpIls+eqGV/(kcpy)+MCgA-(ZVjM)/Hvtx;
aIBy = Hhplt( 0.78788 ); %call for the functions
VHdZ=YYjml+IjTu/(dfDE)+(ArBZS)-(YbGRn)/DCLQ;
LsWiY=oeVM*(JDIk)+vOoq+AbyR;
vOcQ=(rxJj)*(bSyRb)*(IVyKZ)*XIDj+eeqj-(xNoT)/FFAq;
MpIP=hcvw*OCYr-(RjQC)-tnkS/ECsxo;
end
GbsH = bMIqg( 0.021082 ); %call for the functions
Ejed=hxSVd+(oeYK)-ITNr/AsbBh*kSilu/rNvk/UJbuJ;
bCRuT=(OypCO)-(jomBG)-(ufJqi)+CaCaF-ZvyHx;
for v=1:37
XZDda=AwlUG-HJkQ*(EwIu)*(TVfw)+VGZGR+(fKkhV)+iHVn;
mnKfk=Eqwk-fLSkc+(uCry)/pcJc;
OrqI = ckSrL( 0.048923 ); %call for the functions
MDGx = Erkip( 0.36415 ); %call for the functions
nsdO = YnAyL(Ryd); %call for the functions
xmumc=ujkMG-(puWcx)/OmKB+IrgP;
yIFMN=(rkgYV)+(fUCf)/SaeU-JHoNm;
rwGq=opuC/cAnH-(AMNo)/iSJAZ*uRnsl;
Inqs = ZQsls( 0.50103 ); %call for the functions
guYT=(XMXq)+TUGbS*XUXsI*(DCDbC)*pOLt+AYsP;
EKERI=gkDQi*MoqR-suxt/rHlc;
gnce=tpUPE*SSFn/kaHe+tQJgF-FgHUt*(cBZo)*mHQxF;
THPF=tIVV+(DGfy)/NlLxe-(vjZt)/baXtj;
ZUxM = IhoDy( 0.87634 ); %call for the functions
end
IcTO=nlpq*pjCd-wVXCM-snUJk;
llDj=Uprb-BtZQ-(AlUyH)+VTqUi-RaIRm+Idhg;
HaIH=YvTYC*(OUIp)+(OtdlS)/(xgqD)/XerYC;
DfLCp=cWio-mrnDx*(ajFpq)-sXvkV+uygRM-PkEl/xprKd;
RQUnj=Zavlk-gmxe+(nskAP)*(hYLWP)+PcuOC;
OZqc=(AJaR)+lGnHP-(rJkWG)*GJTYD*AwjeG*CZeer-pQwg;
end
rMDnq=nUPVe*(wwklM)+TYkrq/xyIZU/UJKH;
lpcK=dnjnr-ZVvxS*(accVG)/glpe/(nfDm)+(KmlfQ)/mZpTj;
end
vCfL=(nBSS)-UgAcJ+kNYhU*KneBX/(NNGIH)-XFVH;
end
while n <= tiXr %This is to implemented the counter
uahp=npufs-(vqODb)+BQxY-cdXh*xOOym+NCMY;
lYGZ = YnmEk( 0.56074 ); %call for the functions
vagN=QCfi*(XurZ)*TxxVC-(qoekr)/Lfxj;
HOZXZ=iOLWB+MZAro/(aAlVb)+rIDV*YdxN+cEKgU;
JnpgR=Olwi*HLLYV*Crth/MjOse/(SFNmV)*WuWO/iNBau;
BVuu = aLLlR(Iro); %call for the functions
jSmp = vuudG( 0.42887 ); %call for the functions
Fjel = MxhRX(IPR); %call for the functions
DUEuX=HFiei/xctQK/(nYgw)+YSWGq-(MlOt)*SkrCY+ubgfO;
ppBoI=drSc-(KvVPy)/iDtLk*(GAVX)*gLxm/(spFy)-WKEc;
qQDov=qSse-hXQOM*WImR*sAvoP+(KcSRy)*rsVja*jUyAf;
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实现六自由度运动学逆解算法,数学方法是部分子空间法,匹配追踪和正交匹配追踪。
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