Home > @link > char.m

char

PURPOSE ^

CHAR Create string representation of LINK object

SYNOPSIS ^

function s = char(l)

DESCRIPTION ^

CHAR Create string representation of LINK object

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %CHAR Create string representation of LINK object
0002 
0003 % Copyright (C) 1999-2008, by Peter I. Corke
0004 %
0005 % This file is part of The Robotics Toolbox for Matlab (RTB).
0006 %
0007 % RTB is free software: you can redistribute it and/or modify
0008 % it under the terms of the GNU Lesser General Public License as published by
0009 % the Free Software Foundation, either version 3 of the License, or
0010 % (at your option) any later version.
0011 %
0012 % RTB is distributed in the hope that it will be useful,
0013 % but WITHOUT ANY WARRANTY; without even the implied warranty of
0014 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
0015 % GNU Lesser General Public License for more details.
0016 %
0017 % You should have received a copy of the GNU Leser General Public License
0018 % along with RTB.  If not, see <http://www.gnu.org/licenses/>.
0019 
0020 function s = char(l)
0021 
0022     jtype = 'RP';
0023 
0024     if l.mdh == 0,
0025         conv = 'std';
0026     else
0027         conv = 'mod';
0028     end
0029 
0030     s = sprintf('%f\t%f\t%f\t%f\t%c\t(%s)', l.alpha, l.A, l.theta, l.D, ...
0031         jtype((l.sigma==1) + 1), ...
0032         conv);

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