1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
|
mode(0);
// Copyright INRIA
xbasc();
getf('SCI/demos/flat/fcts.sci')
getf('SCI/demos/flat/car.sci')
demolist=['Car ';
'Two trailers truck ';];
rep=x_message(['Car and truck parking via flatness and frenet formulas';
'see:'
' SCI/demos/flat/fcts.sci'
'and'
' SCI/demos/flat/car.sci'
'for details'],['Ok','Cancel']);
go_on=rep==1;
while go_on then
num=x_choose(demolist(:,1),'Choose a vehicle');
if num==0 then go_on=%f;
else
select num
case 1 then
ystr=[ 'x_0'; 'y_0'; 'theta (direction) ';'phi (steering wheel)'];
rep=x_mdialog(['Choose initial state'],ystr,...
string([0;4;%pi/3;-%pi/6]));
if rep<>[] then
xstart=evstr(rep);
xbasc();
mvcr(xstart(1),xstart(2),xstart(3),xstart(4));
end
case 2 then
ystr=[ 'x2';'y2';'theta2 ' ;'theta12';'theta01'; 'phi'];
rep= x_mdialog(['Choose initial state'],...
ystr,string([-2;3;%pi/6;0;0;1]));
if rep<>[] then
xstart=evstr(rep);
xbasc();
mvcr2T(xstart(1),xstart(2),xstart(3),xstart(4),xstart(5),...
xstart(6));
end
end;
end,
end;
|
