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nofriction

PURPOSE ^

NOFRICTION Return link object with zero friction

SYNOPSIS ^

function l2 = nofriction(l, only)

DESCRIPTION ^

NOFRICTION Return link object with zero friction 

    LINK = NOFRICTION(LINK)
    LINK = NOFRICTION(LINK, 'all')

 Return the link object with Coulomb or all friction terms set to zero.

 See also: ROBOT/NOFRICTION

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %NOFRICTION Return link object with zero friction
0002 %
0003 %    LINK = NOFRICTION(LINK)
0004 %    LINK = NOFRICTION(LINK, 'all')
0005 %
0006 % Return the link object with Coulomb or all friction terms set to zero.
0007 %
0008 % See also: ROBOT/NOFRICTION
0009 
0010 % Copyright (C) 1999-2008, by Peter I. Corke
0011 %
0012 % This file is part of The Robotics Toolbox for Matlab (RTB).
0013 %
0014 % RTB is free software: you can redistribute it and/or modify
0015 % it under the terms of the GNU Lesser General Public License as published by
0016 % the Free Software Foundation, either version 3 of the License, or
0017 % (at your option) any later version.
0018 %
0019 % RTB is distributed in the hope that it will be useful,
0020 % but WITHOUT ANY WARRANTY; without even the implied warranty of
0021 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
0022 % GNU Lesser General Public License for more details.
0023 %
0024 % You should have received a copy of the GNU Leser General Public License
0025 % along with RTB.  If not, see <http://www.gnu.org/licenses/>.
0026 
0027 function  l2 = nofriction(l, only)
0028 
0029     l2 = link(l);
0030 
0031     if (nargin == 2) & strcmpi(only(1:3), 'all'),
0032         l2.B = 0;
0033     end
0034     l2.Tc = [0 0];

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