Home > @robot > char.m

char

PURPOSE ^

CHAR String representation of robot parametesrs

SYNOPSIS ^

function s = char(r)

DESCRIPTION ^

CHAR String representation of robot parametesrs

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %CHAR String representation of robot parametesrs
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(r)
0021 
0022     % build a configuration string
0023     rp = [];
0024     for i = 1:r.n,
0025         rp = [rp r.link{i}.RP];
0026     end
0027 
0028     s = sprintf('%s (%d axis, %s)', r.name, r.n, rp);
0029 
0030     if ~isempty(r.manuf)
0031         s = strcat(s, [' [' r.manuf ']']);
0032     end
0033     if ~isempty(r.comment)
0034         s = strcat(s, [' <' r.comment '>']);
0035     end
0036     s = strcat(s, sprintf('\n\t\tgrav = [%.2f %.2f %.2f]\n', r.gravity));
0037     if getfield(r, 'mdh') == 0,
0038         s = strcat(s, sprintf('\t\tstandard D&H parameters\n'));
0039     else
0040         s = strcat(s, sprintf('\t\tmodified D&H parameters\n'));
0041     end
0042 
0043     s = strcat(s, sprintf('\n\n  alpha\t\t A\t\t theta\t\t D\t\tR/P\n'));
0044     for i = 1:r.n,
0045         s = strcat(s, sprintf('\n%s', char(r.link{i})));
0046     end

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