人工势场法路径规划MATLAB仿真（含c代码）

/* * File: _coder_compute_angle_api.c * * MATLAB Coder version : 3.4 * C/C++ source code generated on : 10-Jun-2018 18:37:29 */ /* Include Files */ #include "tmwtypes.h" #include "_coder_compute_angle_api.h" #include "_coder_compute_angle_mex.h" /* Variable Definitions */ emlrtCTX emlrtRootTLSGlobal = NULL; emlrtContext emlrtContextGlobal = { true,/* bFirstTime */ false, /* bInitialized */ 131451U, /* fVersionInfo */ NULL, /* fErrorFunction */ "compute_angle", /* fFunctionName */ NULL, /* fRTCallStack */ false, /* bDebugMode */ { 2045744189U, 2170104910U, 2743257031U, 4284093946U },/* fSigWrd */ NULL /* fSigMem */ }; /* Function Declarations */ static void b_emlrt_marshallIn(const emlrtStack *sp, const mxArray *u, const emlrtMsgIdentifier *parentId, emxArray_real_T *y); static const mxArray *b_emlrt_marshallOut(const real_T u); static void c_emlrt_marshallIn(const emlrtStack *sp, const mxArray *Xsum, const char_T *identifier, emxArray_real_T *y); static void d_emlrt_marshallIn(const emlrtStack *sp, const mxArray *u, const emlrtMsgIdentifier *parentId, emxArray_real_T *y); static real_T e_emlrt_marshallIn(const emlrtStack *sp, const mxArray *n, const char_T *identifier); static void emlrt_marshallIn(const emlrtStack *sp, const mxArray *X, const char_T *identifier, emxArray_real_T *y); static const mxArray *emlrt_marshallOut(const emxArray_real_T *u); static void emxFree_real_T(emxArray_real_T **pEmxArray); static void emxInit_real_T(const emlrtStack *sp, emxArray_real_T **pEmxArray, int32_T numDimensions, boolean_T doPush); static real_T f_emlrt_marshallIn(const emlrtStack *sp, const mxArray *u, const emlrtMsgIdentifier *parentId); static void g_emlrt_marshallIn(const emlrtStack *sp, const mxArray *angle_at, const char_T *identifier, emxArray_real_T *y); static void h_emlrt_marshallIn(const emlrtStack *sp, const mxArray *u, const emlrtMsgIdentifier *parentId, emxArray_real_T *y); static void i_emlrt_marshallIn(const emlrtStack *sp, const mxArray *src, const emlrtMsgIdentifier *msgId, emxArray_real_T *ret); static void j_emlrt_marshallIn(const emlrtStack *sp, const mxArray *src, const emlrtMsgIdentifier *msgId, emxArray_real_T *ret); static real_T k_emlrt_marshallIn(const emlrtStack *sp, const mxArray *src, const emlrtMsgIdentifier *msgId); static void l_emlrt_marshallIn(const emlrtStack *sp, const mxArray *src, const emlrtMsgIdentifier *msgId, emxArray_real_T *ret); /* Function Definitions */ /* * Arguments : const emlrtStack *sp * const mxArray *u * const emlrtMsgIdentifier *parentId * emxArray_real_T *y * Return Type : void */ static void b_emlrt_marshallIn(const emlrtStack *sp, const mxArray *u, const emlrtMsgIdentifier *parentId, emxArray_real_T *y) { i_emlrt_marshallIn(sp, emlrtAlias(u), parentId, y); emlrtDestroyArray(&u); } /* * Arguments : const real_T u * Return Type : const mxArray * */ static const mxArray *b_emlrt_marshallOut(const real_T u) { const mxArray *y; const mxArray *m1; y = NULL; m1 = emlrtCreateDoubleScalar(u); emlrtAssign(&y, m1); return y; } /* * Arguments : const emlrtStack *sp * const mxArray *Xsum * const char_T *identifier * emxArray_real_T *y * Return Type : void */ static void c_emlrt_marshallIn(const emlrtStack *sp, const mxArray *Xsum, const char_T *identifier, emxArray_real_T *y) { emlrtMsgIdentifier thisId; thisId.fIdentifier = (const char *)identifier; thisId.fParent = NULL; thisId.bParentIsCell = false; d_emlrt_marshallIn(sp, emlrtAlias(Xsum), &thisId, y); emlrtDestroyArray(&Xsum); } /* * Arguments : const emlrtStack *sp * const mxArray *u * const emlrtMsgIdentifier *parentId * emxArray_real_T *y * Return Type : void */ static void d_emlrt_marshallIn(const emlrtStack *sp, const mxArray *u, const emlrtMsgIdentifier *parentId, emxArray_real_T *y) { j_emlrt_marshallIn(sp, emlrtAlias(u), parentId, y); emlrtDestroyArray(&u); } /* * Arguments : const emlrtStack *sp * const mxArray *n * const char_T *identifier * Return Type : real_T */ static real_T e_emlrt_marshallIn(const emlrtStack *sp, const mxArray *n, const char_T *identifier) { real_T y; emlrtMsgIdentifier thisId; thisId.fIdentifier = (const char *)identifier; thisId.fParent = NULL; thisId.bParentIsCell = false; y = f_emlrt_marshallIn(sp, emlrtAlias(n), &thisId); emlrtDestroyArray(&n); return y; } /* * Arguments : const emlrtStack *sp * const mxArray *X * const char_T *identifier * emxArray_real_T *y * Return Type : void */ static void emlrt_marshallIn(const emlrtStack *sp, const mxArray *X, const char_T *identifier, emxArray_real_T *y) { emlrtMsgIdentifier thisId; thisId.fIdentifier = (const char *)identifier; thisId.fParent = NULL; thisId.bParentIsCell = false; b_emlrt_marshallIn(sp, emlrtAlias(X), &thisId, y); emlrtDestroyArray(&X); } /* * Arguments : const emxArray_real_T *u * Return Type : const mxArray * */ static const mxArray *emlrt_marshallOut(const emxArray_real_T *u) { const mxArray *y; const mxArray *m0; static const int32_T iv0[2] = { 0, 0 }; y = NULL; m0 = emlrtCreateNumericArray(2, iv0, mxDOUBLE_CLASS, mxREAL); emlrtMxSetData((mxArray *)m0, (void *)&u->data[0]); emlrtSetDimensions((mxArray *)m0, u->size, 2); emlrtAssign(&y, m0); return y; } /* * Arguments : emxArray_real_T **pEmxArray * Return Type : void */ static void emxFree_real_T(emxArray_real_T **pEmxArray) { if (*pEmxArray != (emxArray_real_T *)NULL) { if (((*pEmxArray)->data != (real_T *)NULL) && (*pEmxArray)->canFreeData) { emlrtFreeMex((void *)(*pEmxArray)->data); } emlrtFreeMex((void *)(*pEmxArray)->size); emlrtFreeMex((void *)*pEmxArray); *pEmxArray = (emxArray_real_T *)NULL; } } /* * Arguments : const emlrtStack *sp * emxArray_real_T **pEmxArray * int32_T numDimensions * boolean_T doPush * Return Type : void */ static void emxInit_real_T(const emlrtStack *sp, emxArray_real_T **pEmxArray, int32_T numDimensions, boolean_T doPush) { emxArray_real_T *emxArray; int32_T i; *pEmxArray = (emxArray_real_T *)emlrtMallocMex(sizeof(emxArray_real_T)); if (doPush) { emlrtPushHeapReferenceStackR2012b(sp, (void *)pEmxArray, (void (*)(void *)) emxFree_real_T); } emxArray = *pEmxArray; emxArray->data = (real_T *)NULL; emxArray->numDimensions = numDimensions; emxArray->size = (int32_T *)emlrtMallocMex((uint32_T)(sizeof(int32_T) * numDimensions)); emxArray->allocatedSize = 0; emxArray->canFreeData = true; for (i = 0; i < numDimensions; i++) { emxArray->size[i] = 0; } } /* * Arguments : const emlrtStack *sp * const mxArray *u * const emlrtMsgIdentifier *parentId * Return Type : real_T */ static real_T f_emlrt_marshallIn(const emlrtStack *sp, const mxArray *u, const emlrtMsgIdentifier *parentId) { real_T y; y = k_emlrt_marshallIn(sp, emlrtAlias(u), parentId); emlrtDestroyArray(&u); return y; } /* * Arguments : const emlrtStack *sp * const mxArray *angle_at * const char_T *identifier * emxArray_real_T *y * Return Type : void */ static void g_emlrt_marshallIn(const emlrtStack *sp, const mxArray *angle_at,