void main()
{
  static const char b_cv1[3]{'a', 'l', 'l'};
  coder::c_rtString b;
  coder::c_rtString c;
  coder::c_rtString d;
  coder::uavDubinsConnection d3dConnObj;
  coder::uavDubinsConnection uavD3DConn;
  coder::bounded_array<coder::uavDubinsPathSegment, 28U, 2U> target_PathPoses;
  coder::bounded_array<coder::uavDubinsPathSegment, 28U, 1U>
      target_PathPosesObj;
  double pathCosts_data[28];
  double x;
  int pathSegments_size[2];
  int flagOptimal;
  int kstr;
  char pathSegments_data[7];
  char b_cv[3];
  boolean_T b_bool;
  // 无人机运动参数
  uavD3DConn.init();
  uavD3DConn.AirSpeed = 50.0;
  x = uavD3DConn.MaxRollAngle;
  x = std::tan(x);
  uavD3DConn.MinTurningRadius =
      uavD3DConn.AirSpeed * uavD3DConn.AirSpeed / (9.8 * x);
  d3dConnObj.init();
  x = d3dConnObj.MaxRollAngle;
  x = std::tan(x);
  d3dConnObj.AirSpeed = std::sqrt(11433.333333333336 * x);
  d3dConnObj.MinTurningRadius =
      d3dConnObj.AirSpeed * d3dConnObj.AirSpeed / (9.8 * x);
  b.init();
  b_cv[0] = b.Value[0];
  c.init();
  b_cv[1] = c.Value[1];
  d.init();
  b_cv[2] = d.Value[2];
  coder::fullValidatestring(b_cv, pathSegments_data, pathSegments_size);
  flagOptimal = 1;
  b_bool = false;
  if (pathSegments_size[1] == 3) {
    kstr = 0;
    int exitg1;
    do {
      exitg1 = 0;
      if (kstr < 3) {
        if (pathSegments_data[kstr] != b_cv1[kstr]) {
          exitg1 = 1;
        } else {
          kstr++;
        }
      } else {
        b_bool = true;
        exitg1 = 1;
      }
    } while (exitg1 == 0);
  }
  //生成目标航迹
  if (b_bool) {
    flagOptimal = 0;
  }
  target_PathPosesObj.size[0] =
      coder::uav::internal::uavDubins::uavDubinsBuiltins::connect(
          d3dConnObj, flagOptimal == 1, d3dConnObj.MinTurningRadius,
          target_PathPosesObj.data, pathCosts_data, kstr);
  target_PathPoses.size[0] = 1;
  kstr = target_PathPosesObj.size[0];
  target_PathPoses.size[1] = target_PathPosesObj.size[0];
  for (flagOptimal = 0; flagOptimal < kstr; flagOptimal++) {
    target_PathPoses.data[flagOptimal] = target_PathPosesObj.data[4];
  }
  target_PathPoses.data[0] = target_PathPosesObj.data[4];

  // UAV初始位置和状态
  double uavInitPos[3] = { -1000, 1000.0, 0 };
  double uavInitHeading = 3.1415926535897931;  // 初始航向角 
  double uavInitPitch = 0.0;  // 初始俯仰角

  //运行脚本
  runSimulation(uavD3DConn, target_PathPoses.data, uavInitPos, uavInitHeading, uavInitPitch);
}
上述C++代码对应的matlab代码如下所示，帮我详细对比分析C++代码每一行代码的逻辑。
clear all; clc

isContinued         = true;
isRunCAs            = false;
controlMode         = uint8(2);
CAIdx               = 2;
uavD3DConn          = uavDubinsConnection;
uavD3DConn.AirSpeed = 50;
target_PathSegMode  = "Dubins3D";
plotUAVNum          = uint8(5);
target_PlotUAVNum   = uint8(8);
ca_PlotUAVNum       = uint8(0);
uavSize             = 600;
target_StartPose    = [1000, 1000, -2000, deg2rad(0)];
target_GoalPose     = [1000, 8000, -6000, deg2rad(180)];
initPose            = [-1000; -1000; 0; deg2rad(180)];
d3dConnObj          = uavDubinsConnection;
minTurningRadius    = abs(target_GoalPose(2) - target_StartPose(2)) / 6;
d3dConnObj.AirSpeed = sqrt(minTurningRadius*9.8*tan(d3dConnObj.MaxRollAngle));
target_PathPosesObj = connect(d3dConnObj, target_StartPose, target_GoalPose,"PathSegments","all");
target_PathPoses{1} = target_PathPosesObj{5};
initFlightPath      = deg2rad(0);
initRoll            = deg2rad(0);
savePlot_CA         = true;

figure
show(target_PathPoses{1});
axis equal

RunScript_VF_OptimalGuidance_dubins3D