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display

PURPOSE ^

DISPLAY Display the value of a LINK object

SYNOPSIS ^

function display(l, full)

DESCRIPTION ^

DISPLAY Display the value of a LINK object

 This method is invoked to display a link object by the Matlab interpreter,
 and gives a terse single line description of link kinematics.

 If invoked with a second argument (value ignored) it will display a long
 form description which includes all defined inertial parameters.

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %DISPLAY Display the value of a LINK object
0002 %
0003 % This method is invoked to display a link object by the Matlab interpreter,
0004 % and gives a terse single line description of link kinematics.
0005 %
0006 % If invoked with a second argument (value ignored) it will display a long
0007 % form description which includes all defined inertial parameters.
0008 
0009 % Copyright (C) 1999-2008, by Peter I. Corke
0010 %
0011 % This file is part of The Robotics Toolbox for Matlab (RTB).
0012 %
0013 % RTB is free software: you can redistribute it and/or modify
0014 % it under the terms of the GNU Lesser General Public License as published by
0015 % the Free Software Foundation, either version 3 of the License, or
0016 % (at your option) any later version.
0017 %
0018 % RTB is distributed in the hope that it will be useful,
0019 % but WITHOUT ANY WARRANTY; without even the implied warranty of
0020 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
0021 % GNU Lesser General Public License for more details.
0022 %
0023 % You should have received a copy of the GNU Leser General Public License
0024 % along with RTB.  If not, see <http://www.gnu.org/licenses/>.
0025 
0026 function display(l, full)
0027 
0028     disp(' ');
0029     disp([inputname(1), ' = '])
0030     disp(' ');
0031     disp(['  ' char(l)])
0032     disp(' ');
0033 
0034     if nargin > 1,
0035         if ~isempty(l.m)
0036             fprintf('  m    = %f\n', l.m)
0037         end
0038         if ~isempty(l.r)
0039             fprintf('  r    = %f %f %f\n', l.r);
0040         end
0041         if ~isempty(l.I)
0042             fprintf('  I    = | %f %f %f |\n', l.I(1,:));
0043             fprintf('         | %f %f %f |\n', l.I(2,:));
0044             fprintf('         | %f %f %f |\n', l.I(3,:));
0045         end
0046         if ~isempty(l.Jm)
0047             fprintf('  Jm   = %f\n', l.Jm);
0048         end
0049         if ~isempty(l.B)
0050             fprintf('  B    = %f\n', l.B);
0051         end
0052         if ~isempty(l.Tc)
0053             fprintf('  Tc   = %f(+) %f(-)\n', l.Tc(1), l.Tc(2));
0054         end
0055         if ~isempty(l.G)
0056             fprintf('  G    = %f\n', l.G);
0057         end
0058         if ~isempty(l.qlim)
0059             fprintf('  qlim = %f to %f\n', l.qlim(1), l.qlim(2));
0060         end
0061     end

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