遞減for循環不迭代

Question

 static void Main() 
     { 

      double[] MPCV = { 0, 0, 0, 0, 0 }; //MPCV = velocity for MPC 
      double[] MPCW = { 0, 0, 0, 0, 0 }; // MPCW = omega for MPC 


      double G1 = 0.04, G2 = 0.04, T = 20E-06; 


      int k, n = 5, count; 

      double[] X = new double[6]; 
      double[] Y = new double[6]; 
      double[] A = new double[6]; 


      int tx = 700; 
      double ta = (Math.PI/180) * 60; 
      int ty = 300; 

      double[,] qd = new double[3, 1] { { tx }, { ty }, { ta } }; 
      double[,] Lamda5 = new double[1, 3]; //lamda(5) transpose 
      double[,] qk = new double[6, 3]; //q(k) matrix 
      double[,] r = new double[3, 1]; //q(5)-qd 
      double[,] Z = new double[3, 3]; //df/dq 


      X[0] = 500; 
      Y[0] = 600; 
      A[0] = (Math.PI/180) * 90; //converting from degree to radian 




      for (count = 0; count < 30; count++) //main loop for MPC controller 
      { 

       for (k = 0; k < n; k++) // loop to find q(k) = [x[k] y[k] A[k]] 
       { 
        X[k + 1] = X[k] + (T * MPCV[k]) * Math.Cos(A[k]); // state space model for X,Y,Angle 
        Y[k + 1] = Y[k] + (T * MPCV[k]) * Math.Sin(A[k]); 
        A[k + 1] = A[k] + (T * MPCW[k]); 

        Console.WriteLine("\nX({0}) = {1} \nY({0}) = {2} \nX({0}) = {3} ", k + 1, X[k + 1], Y[k + 1], A[k + 1]); 

        for (int j = 0; j <= n; j++) //update q(k) as a matrix 
        { 
         qk[j, 0] = X[j]; 
         qk[j, 1] = Y[j]; 
         qk[j, 2] = A[j]; 

         Console.WriteLine("\nthe matrix is q({0}) =[X={1} Y={2} A={3}]", j, qk[j, 0], qk[j, 1], qk[j, 2]); 
        } 
       } 
       //end first for loop for q(k) 

       double X5 = qk[n, 0]; 
       double Y5 = qk[n, 1]; 

       r[0, 0] = X5 - tx; 
       r[1, 0] = Y5 - ty; 
       r[2, 0] = 0; 
       Console.WriteLine("\nthe matrix is q(N) =[X={1} Y={1} A={2}]", r[0, 0], r[1, 0], r[2, 0]); 

       Lamda5[0, 0] = G1 * r[0, 0]; 
       Lamda5[0, 1] = G1 * r[1, 0]; 
       Lamda5[0, 2] = G1 * r[2, 0]; 

       Console.WriteLine("\nthe matrix is LamdaN =[X={1} Y={1} A={2}]", Lamda5[0, 0], Lamda5[0, 1], Lamda5[0, 2]); 

       for (k = n; k <= 1; k--) // loop for lamda 
       { 

        Z[0, 0] = 1; 
        Z[0, 1] = 0; 
        Z[0, 2] = -T * MPCV[k] * (Math.Sin(A[k])); 

        Z[1, 0] = 1; 
        Z[1, 1] = 0; 
        Z[1, 2] = -T * MPCV[k] * (Math.Cos(A[k])); 

        Z[2, 0] = 0; 
        Z[2, 1] = 0; 
        Z[2, 2] = 1; 


        Console.WriteLine("\nthe matrix is Z =[X={1} Y={1} A={2}]", Z[0,0], Z[0,1], Z[0,2]); 
        Console.WriteLine("\nthe matrix is Z =[X={1} Y={1} A={2}]", Z[1,0], Z[1,1], Z[1,0]); 
        Console.WriteLine("\nthe matrix is Z =[X={1} Y={1} A={2}]", Z[2,0], Z[2,1], Z[2,0]); 
       } 
} 

嗨，我試圖做我的評論行描述的lamda循環的迭代。但是，它不會迭代，並且不會顯示矩陣Z的輸出。我在某個地方犯了什麼錯誤嗎？謝謝。

Answer 1

for (k = n; k <= 1; k--) 

是非常不尋常的，繼續條件被檢查，如果是k少小於或等於一。

如果n大於1（因爲您將它設置爲5），該循環體將永遠不會執行。

您應該使用>=而不是<=。

Answer 2

我在某個地方犯了什麼錯誤嗎？

是 - 你的條件要求k小於或等於1，但你在5開始，所以該塊從未執行。

改變你的循環條件

for (k = n; k >= 1; k--) 

Answer 3

您的循環條件是錯誤的。

你剛剛在一個更大或更小的符號上犯了一個錯誤。

要循環，直到K是大於或等於1

但是你你檢查循環，直到K是小於1

所以你只需要更正條件。

for (k = n; k >= 1; k--) // loop for lambda     
{ 
}