calssdef varible are overwriten using classdef function

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eden meirovich
eden meirovich 2020 年 12 月 24 日
コメント済み: Steven Lord 2020 年 12 月 25 日
hello
i have a classdef that i created. i want to create difrent varible in that class.
lets say rob 1 and rob 2.
when i create rob2 (after creating rob1),rbo1 it's overwriten by rob2 ( so they are the same)
i could i fix that? i rather not change the classdef code.
thank u!
classdef cRobot < handle
properties
% pose
x;
y;
theta;
% noise
forward_noise = 0;
turn_noise = 0;
sense_noise_range = 0;
sense_noise_bearing = 0;
end
methods
function obj = cRobot % method constructor
% place robot with a random pose
obj.x = rand*cWorld.world_size;
obj.y = rand*cWorld.world_size;
obj.theta = rand*2*pi;
end
% sets the new pose
function obj = set(obj,new_x,new_y, new_orientation)
if (new_x < 0 | new_x >= cWorld.world_size)
error('X coordinate out of bound');
end
if (new_y < 0 | new_y >= cWorld.world_size)
error('Y coordinate out of bound');
end
if (new_orientation < 0 | new_orientation >= 2 * pi);
error('Orientation must be in [0,2pi]');
end
obj.x = new_x;
obj.y = new_y;
obj.theta = new_orientation;
end
% prints the pose of the robot to the Matlab prompt
function print(obj)
format long
display(['[x= ',num2str(obj.x), ' y=', num2str(obj.y), ' heading=', num2str(obj.theta),']']);
end
% plots the pose of the robot in the world
function plot(obj,mycolor,style)
if(nargin == 1)
mycolor = 'b'; % default
style = 'robot'
end
if(nargin == 2)
style = 'robot'; % default
end
hold on;
% different plot styles for the robot
switch style
case 'robot'
% size of robot
phi = linspace(0,2*pi,101);
r = 1;
% plot robot body
plot(obj.x + r*cos(phi),obj.y + r*sin(phi),'Color',mycolor);
hold on;
% plot heading direction
plot([obj.x, obj.x + r*cos(obj.theta)],[obj.y, obj.y + r*sin(obj.theta)],'Color',mycolor);
axis equal;
case 'particle'
% plots robot position but ignores heading
plot(obj.x,obj.y,'.','Color',mycolor,'MarkerSize',10);
otherwise
disp('unknown style');
end
xlim([0,cWorld.world_size]);
ylim([0,cWorld.world_size]);
end
% sets new noise parameters
function obj = set_noise(obj, new_forward_noise, new_turn_noise, new_sense_noise_range, new_sense_noise_bearing)
obj.forward_noise = new_forward_noise;
obj.turn_noise = new_turn_noise;
obj.sense_noise_range = new_sense_noise_range;
obj.sense_noise_bearing = new_sense_noise_bearing;
end
%move function
function obj = move(obj,u1,u2)
u1 = u1 + normrnd(0,obj.turn_noise);
u2 = u2 + normrnd(0,obj.forward_noise);
obj.x = obj.x + u2*cos(obj.theta+u1);
obj.y = obj.y + u2*sin(obj.theta+u1);
obj.theta =obj.theta + u1;
end
function mess = sense(obj)
for i =1:6
mess(i,1) = sqrt((cWorld.landmarks(i,1)-obj.x)^2+(cWorld.landmarks(i,2)-obj.y)^2) + normrnd(0,obj.sense_noise_range);
mess(i,2) = atan2(cWorld.landmarks(i,2)-obj.y,cWorld.landmarks(i,1)-obj.x) - obj.theta + normrnd(0,obj.sense_noise_bearing);
end
end
function p = measurement_probability(mess)
end
end
end
  1 件のコメント
Steven Lord
Steven Lord 2020 年 12 月 25 日
Can you show us the code you run to create rob1 and rob2 as instances of your cRobot class? I suspect I know what you're doing to see the behavior you describe, but seeing the code will help me be certain.

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