CHAR String representation of robot parametesrs
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