三次样条曲线插补模拟

主程序M文件（King.m）：function varargout = King(varargin)% KING MATLAB code for King.fig% KING, by itself, creates a new KING or raises the existing% singleton*.%% H = KING returns the handle to a new KING or the handle to% the existing singleton*.%% KING('CALLBACK',hObject,eventData,handles,...) calls the local% function named CALLBACK in KING.M with the given input arguments. %% KING('Property','Value',...) creates a new KING or raises the% existing singleton*. Starting from the left, property value pairs are% applied to the GUI before King_OpeningFcn gets called. An% unrecognized property name or invalid value makes property application % stop. All inputs are passed to King_OpeningFcn via varargin.%% *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one % instance to run (singleton)".%% See also: GUIDE, GUIDATA, GUIHANDLES% Edit the above text to modify the response to help King% Last Modified by GUIDE v2.5 06-May-2013 21:39:33% Begin initialization code - DO NOT EDITgui_Singleton = 1;gui_State = struct('gui_Name', mfilename, ...'gui_Singleton', gui_Singleton, ...'gui_OpeningFcn', @King_OpeningFcn, ...'gui_OutputFcn', @King_OutputFcn, ...'gui_LayoutFcn', [] , ...'gui_Callback', []);if nargin && ischar(varargin{1})gui_State.gui_Callback = str2func(varargin{1});endif nargout[varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:}); elsegui_mainfcn(gui_State, varargin{:});end% End initialization code - DO NOT EDITfunction str = format_time(t) %时间格式调整函数hrs = floor(t/3600);min = floor(t/60 - 60*hrs);sec = t - 60*(min + 60*hrs);if hrs < 10h = sprintf('0%1.0f:', hrs);elseh = sprintf('%1.0f:', hrs);endif min < 10m = sprintf('0%1.0f:', min);elsem = sprintf('%1.0f:', min);endif sec < 9.9995s = sprintf('0%1.3f', sec);elses = sprintf('%1.3f', sec);endstr = [h m s];% --- Executes just before King is made visible.function King_OpeningFcn(hObject, eventdata, handles, varargin)% This function has no output args, see OutputFcn.% hObject handle to figure% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)% varargin command line arguments to King (see VARARGIN)% Choose default command line output for timehandles.output = hObject;% Update handles structureguidata(hObject, handles);% UIWAIT makes time wait for user response (see UIRESUME)uiwait(handles.figure1);% --- Outputs from this function are returned to the command line.function varargout = King_OutputFcn(hObject, eventdata, handles)% varargout cell array for returning output args (see VARARGOUT);% hObject handle to figure% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)global Timer% Get default command line output from handles structurevarargout{1} = handles.output;stop(Timer);delete(handles.figure1);function editT_Callback(hObject, eventdata, handles)% hObject handle to editT (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)% Hints: get(hObject,'String') returns contents of editT as text% str2double(get(hObject,'String')) returns contents of editT as a double input = str2num(get(hObject,'String'));%输入插补周期Tguidata(hObject,handles);% --- Executes during object creation, after setting all properties. function editT_CreateFcn(hObject, eventdata, handles)% hObject handle to editT (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles empty - handles not created until after all CreateFcns called% Hint: edit controls usually have a white background on Windows.% See ISPC and COMPUTER.if ispc && isequal(get(hObject,'BackgroundColor'),get(0,'defaultUicontrolBackgroundColor'))set(hObject,'BackgroundColor','white');end% --- Executes on button press in pushbuttoncontrol.function pushbuttoncontrol_Callback(hObject, eventdata, handles)% hObject handle to pushbuttoncontrol (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA) global x;global y;global n;global xn;global yn;global m;global xi;global yiif ~get(handles.togglebuttonsave,'value')%按下保存图像则不清空hold offendJoker;x=getappdata(0,'XA');y=getappdata(0,'YA');n=max(size(x));%控制点个数plot(x,y,'o',x,y);hold ongrid ond=sqrt((x(1)-x(n))^2+(y(1)-y(n))^2);if d>0.01 %开曲线增加端点x(n+2)=x(n);y(n+2)=y(n);for i=n+1:-1:2x(i)=x(i-1);y(i)=y(i-1);endelse%闭曲线增加端点íx(n+2)=x(n);y(n+2)=y(n);for i=n+1:-1:2x(i)=x(i-1);y(i)=y(i-1);endx(1)=x(n);y(1)=y(n);endglobal j;j=1;global u;u=0.05;xn=[];yn=[];xi=0;yi=0;m=1;%初始化数据global TIMETIME=0;global ntnt = str2double(get(handles.editT,'String'));%插补时间global TimerTimer= timer('Period',nt,'ExecutionMode','FixedRate','TimerFcn',{@timercallback,handles});% --- Executes on button press in pushbuttonstart.function pushbuttonstart_Callback(hObject, eventdata, handles)% hObject handle to pushbuttonstart (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) global Timerglobal xn;global yn;global m;global nt;global tglobal TIMEa=0;tic;while a==0%画曲线循环t = toc;str = format_time(TIME+t );set(handles.text4, 'String', str);%时间显示pause(nt);hold onxnn=[xn(m),xn(m+1)];ynn=[yn(m),yn(m+1)];plot(xnn,ynn);%画一个点hold onif m==max(size(xn))%插补完毕跳出循环·break;else m=m+1;endif get(handles.pushbuttonstop,'value')%停止键按下终止插补m=m-1;a=1;t = toc;str = format_time(TIME+t );set(handles.text4, 'String', str);TIME=TIME+t;endend% --- Executes on button press in pushbuttonstop.function pushbuttonstop_Callback(hObject, eventdata, handles)% hObject handle to pushbuttonstop (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA)stop(Timer);% --- Executes on button press in pushbutton4.function pushbutton4_Callback(hObject, eventdata, handles)% hObject handle to pushbutton4 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)close;%关闭function editF_Callback(hObject, eventdata, handles)% hObject handle to editF (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)% Hints: get(hObject,'String') returns contents of editF as text% str2double(get(hObject,'String')) returns contents of editF as a double input = str2num(get(hObject,'String'));%输入插补速度Fguidata(hObject,handles);% --- Executes during object creation, after setting all properties.function editF_CreateFcn(hObject, eventdata, handles)% hObject handle to editF (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles empty - handles not created until after all CreateFcns called% Hint: edit controls usually have a white background on Windows.% See ISPC and COMPUTER.if ispc && isequal(get(hObject,'BackgroundColor'),get(0,'defaultUicontrolBackgroundColor'))set(hObject,'BackgroundColor','white');end% --- Executes when user attempts to close figure1.function figure1_CloseRequestFcn(hObject, eventdata, handles)% hObject handle to figure1 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA)% Hint: delete(hObject) closes the figureuiresume;function timercallback(obj, event, handles)T=str2num(get(handles.editT,'String'));F=str2num(get(handles.editF,'String'));L=F*T/60;...global x;global y;global n;global xi;global yi;global j;global xn;global ynglobal u;if j<n,a3=(-x(j)+3*x(j+1)-3*x(j+2)+x(j+3))/2;a2=(2*x(j)-5*x(j+1)+4*x(j+2)-x(j+3))/2;a1=(-x(j)+x(j+2))/2;a0=x(j+1);b3=(-y(j)+3*y(j+1)-3*y(j+2)+y(j+3))/2;b2=(2*y(j)-5*y(j+1)+4*y(j+2)-y(j+3))/2;b1=(-y(j)+y(j+2))/2;b0=y(j+1);c0=a1^2+b1^2;c1=4*a1*a2+4*b1*b2;c2=4*a2^2+4*b2^2+6*a1*a3+6*b1*b3;c3=12*(a2*a3+b2*b3);c4=9*a3^2+9*b3^2;if j==1&&u==0.05,xi=a3*u^3+a2*u^2+a1*u+a0;yi=b3*u^3+b2*u^2+b1*u+b0;plot(xi,yi);endif u<1,z=(c4*u^4+c3*u^3+c2*u^2+c1*u+c0)^(1/2.0);detu=L/z;uz=u+detu;detx=3*a3*detu*u^2+(3*a3*detu^2+2*a2*detu)*u+(a3*detu^3+a2*detu^2+a1*detu);dety=3*b3*detu*u^2+(3*b3*detu^2+2*b2*detu)*u+(b3*detu^3+b2*detu^2+b1*detu);xz=xi+detx;yz=yi+dety;xn=[xn,xz];yn=[yn,yz];%计算好的插补点存入数组xn，ynu=uz;xi=xz;yi=yz;else j=j+1;u=0.01;endend% --- Executes on button press in pushbutton5.function pushbutton5_Callback(hObject, eventdata, handles)% hObject handle to pushbutton5 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)global Timercla(handles.axes1);set(handles.editT, 'String', '');set(handles.editF, 'String', '');clear all;stop(Timer);%清空数据和曲线function []=sanciytchzh(x,y,Tp,Fp)%画曲线函数global n;L=Fp*Tp/60;...jp=1;u=0.01;xnp=[];ynp=[];while jp<n,a3=(-x(jp)+3*x(jp+1)-3*x(jp+2)+x(jp+3))/2;a2=(2*x(jp)-5*x(jp+1)+4*x(jp+2)-x(jp+3))/2;a1=(-x(jp)+x(jp+2))/2;a0=x(jp+1);b3=(-y(jp)+3*y(jp+1)-3*y(jp+2)+y(jp+3))/2;b2=(2*y(jp)-5*y(jp+1)+4*y(jp+2)-y(jp+3))/2;b1=(-y(jp)+y(jp+2))/2;b0=y(jp+1);c0=a1^2+b1^2;c1=4*a1*a2+4*b1*b2;c2=4*a2^2+4*b2^2+6*a1*a3+6*b1*b3;c3=12*(a2*a3+b2*b3);c4=9*a3^2+9*b3^2;if jp==1&&u==0.01,xi=a3*u^3+a2*u^2+a1*u+a0;yi=b3*u^3+b2*u^2+b1*u+b0;plot(xi,yi);endif u<1,z=(c4*u^4+c3*u^3+c2*u^2+c1*u+c0)^(1/2.0);detu=L/z;uz=u+detu;detx=3*a3*detu*u^2+(3*a3*detu^2+2*a2*detu)*u+(a3*detu^3+a2*detu^2+a1*detu);dety=3*b3*detu*u^2+(3*b3*detu^2+2*b2*detu)*u+(b3*detu^3+b2*detu^2+b1*detu);xz=xi+detx;yz=yi+dety;xnp=[xnp,xz];ynp=[ynp,yz];plot(xnp,ynp,'m');u=uz;xi=xz;yi=yz;else jp=jp+1;u=0.01;endend% --- Executes on button press in pushbutton6.function pushbutton6_Callback(hObject, eventdata, handles)% hObject handle to pushbutton6 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)global x;global y;Tp=str2num(get(handles.editT,'String'));Fp=str2num(get(handles.editF,'String'));sanciytchzh(x, y,Tp,Fp);% --- Executes on button press in togglebuttonsave.function togglebuttonsave_Callback(hObject, eventdata, handles)% hObject handle to togglebuttonsave (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)% Hint: get(hObject,'Value') returns toggle state of togglebuttonsave主程序GUI界面（King.fig）输入控制点M文件（Joker.m）function varargout = Joker(varargin)% JOKER MATLAB code for Joker.fig% JOKER, by itself, creates a new JOKER or raises the existing% singleton*.%% H = JOKER returns the handle to a new JOKER or the handle to% the existing singleton*.%% JOKER('CALLBACK',hObject,eventData,handles,...) calls the local% function named CALLBACK in JOKER.M with the given input arguments. %% JOKER('Property','Value',...) creates a new JOKER or raises the% existing singleton*. Starting from the left, property value pairs are% applied to the GUI before Joker_OpeningFcn gets called. An% unrecognized property name or invalid value makes property application % stop. All inputs are passed to Joker_OpeningFcn via varargin.%% *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one% instance to run (singleton)".%% See also: GUIDE, GUIDATA, GUIHANDLES% Edit the above text to modify the response to help Joker% Last Modified by GUIDE v2.5 02-May-2013 20:19:13% Begin initialization code - DO NOT EDITgui_Singleton = 1;gui_State = struct('gui_Name', mfilename, ...'gui_Singleton', gui_Singleton, ...'gui_OpeningFcn', @Joker_OpeningFcn, ...'gui_OutputFcn', @Joker_OutputFcn, ...'gui_LayoutFcn', [] , ...'gui_Callback', []);if nargin && ischar(varargin{1})gui_State.gui_Callback = str2func(varargin{1});endif nargout[varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:}); elsegui_mainfcn(gui_State, varargin{:});end% End initialization code - DO NOT EDIT% --- Executes just before Joker is made visible.function Joker_OpeningFcn(hObject, eventdata, handles, varargin)% This function has no output args, see OutputFcn.% hObject handle to figure% eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % varargin command line arguments to Joker (see VARARGIN)% Choose default command line output for Jokerhandles.output = hObject;% Update handles structureguidata(hObject, handles);uiwait(handles.figureJoker);% UIWAIT makes Joker wait for user response (see UIRESUME)% uiwait(handles.figureJoker);% --- Outputs from this function are returned to the command line.function varargout = Joker_OutputFcn(hObject, eventdata, handles)% varargout cell array for returning output args (see VARARGOUT);% hObject handle to figure% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)% Get default command line output from handles structurevarargout{1} = handles.output;delete(handles.figureJoker);function editX_Callback(hObject, eventdata, handles)% hObject handle to editX (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)% Hints: get(hObject,'String') returns contents of editX as text% str2double(get(hObject,'String')) returns contents of editX as a double input = str2num(get(hObject,'String'));guidata(hObject,handles);% --- Executes during object creation, after setting all properties.function editX_CreateFcn(hObject, eventdata, handles)% hObject handle to editX (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles empty - handles not created until after all CreateFcns called% Hint: edit controls usually have a white background on Windows.% See ISPC and COMPUTER.if ispc && isequal(get(hObject,'BackgroundColor'),get(0,'defaultUicontrolBackgroundColor'))set(hObject,'BackgroundColor','white');endfunction editY_Callback(hObject, eventdata, handles)% hObject handle to editY (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)% Hints: get(hObject,'String') returns contents of editY as text% str2double(get(hObject,'String')) returns contents of editY as a double input = str2num(get(hObject,'String'));guidata(hObject,handles);% --- Executes during object creation, after setting all properties.function editY_CreateFcn(hObject, eventdata, handles)% hObject handle to editY (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles empty - handles not created until after all CreateFcns called% Hint: edit controls usually have a white background on Windows.% See ISPC and COMPUTER.if ispc && isequal(get(hObject,'BackgroundColor'),get(0,'defaultUicontrolBackgroundColor'))set(hObject,'BackgroundColor','white');end% --- Executes on button press in pushbutton1.function pushbutton1_Callback(hObject, eventdata, handles)% hObject handle to pushbutton1 (see GCBO)% handles structure with handles and user data (see GUIDATA)global XA;global YA;Xa=str2num(get(handles.editX,'String'));Ya=str2num(get(handles.editY,'String'));XA=[XA,Xa];YA=[YA,Ya];set(handles.text4, 'String', num2str(XA));set(handles.text5, 'String', num2str(YA));set(handles.editX, 'String', '');set(handles.editY, 'String', '');% --- Executes on button press in pushbutton2.function pushbutton2_Callback(hObject, eventdata, handles)% hObject handle to pushbutton2 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)set(handles.editX, 'String', '');set(handles.editY, 'String', '');% --- Executes on button press in pushbutton3.function pushbutton3_Callback(hObject, eventdata, handles)% hObject handle to pushbutton3 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)global XA;global YA;setappdata(0,'XA',XA); %保存数据到0句柄，即保存到matlab主程序，相当于全局变量setappdata(0,'YA',YA);uiresume(handles.figureJoker);% --- Executes on button press in pushbutton5.function pushbutton5_Callback(hObject, eventdata, handles)% hObject handle to pushbutton5 (see GCBO)% handles structure with handles and user data (see GUIDATA) set(handles.text4, 'String', '');set(handles.text5, 'String', '');clear all;输入控制点GUI界面（Joker.fig）。