CHAR Create string representation of LINK object
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);