Home > @robot > mtimes.m

mtimes

PURPOSE ^

MTIMES Multiply robot objects

SYNOPSIS ^

function r2 = mtimes(r, l)

DESCRIPTION ^

MTIMES Multiply robot objects

 Robot objects can be multiplied r1*r2 which is mechanically equivalent
 to concatenating the two robots, or mounting robot r2 on the end of robot r1.

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %MTIMES Multiply robot objects
0002 %
0003 % Robot objects can be multiplied r1*r2 which is mechanically equivalent
0004 % to concatenating the two robots, or mounting robot r2 on the end of robot r1.
0005 
0006 % Copyright (C) 1999-2008, by Peter I. Corke
0007 %
0008 % This file is part of The Robotics Toolbox for Matlab (RTB).
0009 %
0010 % RTB is free software: you can redistribute it and/or modify
0011 % it under the terms of the GNU Lesser General Public License as published by
0012 % the Free Software Foundation, either version 3 of the License, or
0013 % (at your option) any later version.
0014 %
0015 % RTB is distributed in the hope that it will be useful,
0016 % but WITHOUT ANY WARRANTY; without even the implied warranty of
0017 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
0018 % GNU Lesser General Public License for more details.
0019 %
0020 % You should have received a copy of the GNU Leser General Public License
0021 % along with RTB.  If not, see <http://www.gnu.org/licenses/>.
0022 
0023 function r2 = mtimes(r, l)
0024 
0025     if ~isa(r, 'robot')
0026         error('left arg must be a robot')
0027     end
0028     if isa(l, 'robot')
0029         r2 = robot(r);
0030         r2.link = [r2.link l.link];
0031         r2.n = length(r2.link);
0032     elseif isa(l, 'link')
0033     end

Generated on Sun 15-Feb-2009 18:09:29 by m2html © 2003