1 绘制集合障碍物图的方法（很多种）
%-----------------------------------------方法一：contourf(曲线因为求max，存在缺省不连续问题)------------------------
[x,y] = meshgrid(linspace(-4,4));
v1_1 = cat(6,x-2-y,0.5-y,-x+2-y,y-x-1,y-2.5,y+x-5);%全部化成<=0的不等式
v1_1 = max(v1_1,[],6);contourf(x,y,-v1_1,[0,0]);
colormap(display_color);
%----------------------------------------方法二：曲线相交（迭代时间较长，因为solve）
syms x y;
[x1_1,y1_1] = solve(x-2-y == 0,0.5-y == 0,x,y);[x1_2,y1_2] = solve(0.5-y == 0,-x+2-y == 0,x,y);
[x1_3,y1_3] = solve(-x+2-y == 0,y-x-1 == 0,x,y);
[x1_4,y1_4] = solve(y-x-1 == 0,y-2.5 == 0,x,y);
[x1_5,y1_5] = solve(y-2.5 == 0,y+x-5 == 0,x,y);
[x1_6,y1_6] = solve(x-2-y == 0,y+x-5 == 0,x,y);
plot(x1_1,y1_1,x1_2,y1_2,x1_3,y1_3,x1_4,y1_4,x1_5,y1_5,x1_6,y1_6);
X1_1 = [x1_1,x1_2,x1_3,x1_4,x1_5,x1_6,x1_1];
Y1_1 = [y1_1,y1_2,y1_3,y1_4,y1_5,y1_6,y1_1];
h = fill(X1_1,Y1_1,'c');
hold on;
2 对于matlab中的cell的使用
>>a = cell(1,5)
a =
1×5 cell array
[] [] [] [] []
>>a(:) = {[0]}
a =
1×5 cell array
[0] [0] [0] [0] [0]
>> a(1) = {[5]}
a =
1×5 cell array
[5] [0] [0] [0] [0]
3 对于zeros的使用，a = zeros[m,n]; m*n维的0阵