invkine.m

模糊控制工具箱,很好用的,有相应的说明文件,希望对大家有用!

function invkine(action)
%INVKINE Inverse kinematics of a robot arm.
%   INVKINE opens a window for animation of the inverse kinematics 
%   problem of the two-joint robot arm system. The ellipse is the 
%   desired trajectory; you can change the location of the ellipse by
%   clicking mouse inside it and dragging it to another location.
%   The x marks in the background indicate the location of each
%   training data pair.
%
%   The training of ANFIS for this problem was done off-line.
%   To see how the training data set was collected and how to do
%   the training, see the file traininv.m. To see both the surfaces
%   for forward and backward kinematics, try invsurf.m.
%
%   File: invkine.m
%
%   See also INVSURF, TRAININV.

%   Roger Jang, 3-31-94, 10-17-94, 12-23-94
%   Copyright 1994-2004 The MathWorks, Inc.
%   $Revision: 1.15.2.5.2.1 $  $Date: 2005/07/17 06:06:16 $

if nargin == 0,
    action = 'initialize';
end

global InvKineInsideEllipse InvKineCurrPt
global InvKineFigH InvKineFigTitle InvKineAxisH
global InvKineAnimRunning InvKineAnimStepping InvKineAnimPause
global InvKineAnimClose InvKineCount InvKineFisMat1 InvKineFisMat2

if strcmp(action, 'initialize'),
    InvKineFigTitle = 'Two-Joint Planar Robot Arm: Animation';
    InvKineFigH = findobj(0, 'Name', InvKineFigTitle);
    InvKineCount = 1;
    if isempty(InvKineFigH)
        %eval([mfilename, '(''set_standard_gui'')']);
        %eval([mfilename, '(''set_extra_gui'')']);
        eval([mfilename, '(''set_all_gui'')']);
        eval([mfilename, '(''set_anim_obj'')']);
        eval([mfilename, '(''set_mouse_action'')']);
        eval([mfilename, '(''load_fis_mat'')']);
        eval([mfilename, '(''single_loop'')']);
        % ====== change to normalized units
        set(findobj(InvKineFigH,'Units','pixels'), 'Units','normal');
        % ====== make all UI interruptable
        set(findobj(InvKineFigH,'Interrupt','off'), 'Interrupt','on');
    else
        eval([mfilename, '(''set_init_cond'')']);
%	set(gcf, 'color', get(gcf, 'color'));
	refresh(gcf);
    end
    eval([mfilename, '(''set_constant'')']);
elseif strcmp(action, 'set_constant'),
    InvKineAnimRunning = 0;
    InvKineAnimStepping = 0;
    InvKineAnimPause = 0;
    InvKineAnimClose = 0;
elseif strcmp(action, 'set_all_gui'),
%elseif strcmp(action, 'set_standard_gui'),
    % ====== standard UI's
    % ====== % No figure, initialize everything
    ui_row_n = 2;   % No. of UI rows
    % ###### default UI settings for SIMUINK ######
    InvKineFigH = figure( ...
        'Name', InvKineFigTitle, ...
        'NumberTitle', 'off', ...
        'DockControls', 'off');
    % Set V4 default color
    colordef(InvKineFigH, 'black');
    set(InvKineFigH, 'color', [0 0 0], ...
        'ResizeFcn', [mfilename, '(''resize'')']);
    
    set(0, 'Currentfigure', InvKineFigH);
    dCurrUnits = get(InvKineFigH, 'units');
    set(InvKineFigH, 'units', 'character');
    figPosChar = get(InvKineFigH, 'position');
    if figPosChar(3)<110
        prodRatio = 110/figPosChar(3); 
        figPosChar = figPosChar*prodRatio;
        set(InvKineFigH,'position', figPosChar);
    end
    set(InvKineFigH, 'units', dCurrUnits);
    
    figPos = get(InvKineFigH, 'position');
    % ====== proportion of UI frame and axes
    ui_area = 0.2;
    axis_area = 1-ui_area;
    % ====== animation area 
    axisPos = [45 (figPos(4)*ui_area)+35 figPos(3) (figPos(4)*axis_area)-35];
    % weird thing: if you don't use normalized unit for
    % axes, patch for ground doesn't appear
    axisPos = axisPos./[figPos(3) figPos(4) figPos(3) figPos(4)];
    InvKineAxisH = ...
        axes('unit', 'normal', 'pos', axisPos, 'box', 'on');
    % ====== background frame
    coverPos = [0 0 figPos(3) figPos(4)*ui_area];
    [frameH, framePos] = uiarray(coverPos, 1, 1, 0);
    % ====== rows for UI controls
    spacing = 5;
    [H, Pos] = uiarray(framePos, ui_row_n, 1, spacing);
    % ====== split lower-most rows into 2 uneven regions
    delete(H(2));
    [tmpH, tmpPos] = uiarray(Pos(2,:), 1, 6, 0, spacing);
    % lower left frame
    delete(tmpH(2:4));
    lPos = tmpPos(1, :);
    lPos(3) = 4*lPos(3)+3*spacing;
    set(tmpH(1), 'pos', lPos);
    % lower right frame
    delete(tmpH(6));
    rPos = tmpPos(5, :);
    rPos(3) = 2*rPos(3)+spacing;
    set(tmpH(5), 'pos', rPos);
    
    set(tmpH(5), 'units', 'character')
    set(tmpH(1), 'units', 'character')
    set(H(1), 'units', 'character')
    set(frameH, 'units', 'character')
    
    % ====== lower-right UI's (same for all SL animation)
    cb1 = [mfilename '(''info'')'];
    cb2 = [mfilename '(''close'')'];
    [lrH, lrPos] = uiarray(rPos, 1, 2, spacing, spacing, ...
        str2mat('push', 'push'), ...
        str2mat(cb1, cb2), ...
        str2mat('Help', 'Close'));
    infoH = lrH(1); set(infoH, 'tag', 'info');
    closeH = lrH(2); set(closeH, 'tag', 'close');
    % ====== lower-left UI's (same for all SL animation)
    cb1 = '';
    cb2 = [mfilename '(''set_init_cond'');' mfilename '(''main_loop'');'];
    cb3 = '';
    cb4 = '';
    [llH, llPos] = uiarray(lPos, 1, 4, spacing, spacing, ...
        str2mat('text', 'push', 'text', 'text'), ...
        str2mat(cb1, cb2, cb3, cb4), ...
        str2mat('0', 'Start Animation ...','',''));
    countH = llH(1); set(countH, 'tag', 'count');
    % ====== extend the width of start button
    delete(llH(3:4));
    startH = llH(2); set(startH, 'tag', 'start');
    startPos = llPos(2,:);
    startPos(3) = 3*startPos(3)+2*spacing;
    set(startH, 'pos', startPos);
    % ====== create stop and pause (under start)
    cb1 = [mfilename '(''pause_anim'')'];
    cb2 = [mfilename '(''stop_anim'')'];
    cb3 = '';
    [h, pos] = uiarray(startPos, 1, 3, 0,spacing,'push', ...
        str2mat(cb1, cb2, cb3), ...
        str2mat('Pause...', 'Stop', ''));
    set(h, 'visible', 'off');
    pauseH = h(1); set(pauseH, 'tag', 'pause');
    stopH = h(2); set(stopH, 'tag', 'stop');
    % ====== extend the width of pause button
    delete(h(3));
    pausePos = pos(1, :);
    pausePos(3) = 2*pausePos(3)+spacing;
    set(pauseH, 'pos', pausePos);
    stopPos = pos(2, :);
    stopPos(1) = pausePos(1)+pausePos(3)+spacing;
    set(stopH, 'pos', stopPos);
    % ===== create continue and step (under pause)
    cb1 = [mfilename '(''continue_anim'')'];
    cb2 = [mfilename '(''step_anim'')'];
    [h, pos] = uiarray(pausePos, 1, 2, 0, spacing, ...
        'push', ...
        str2mat(cb1, cb2), ...
        str2mat('Continue', 'Step'));
    set(h, 'visible', 'off');
    contH = h(1); set(contH, 'tag', 'continue');
    stepH = h(2); set(stepH, 'tag', 'step');
    %===== put UI handles into current figure's user data 
    tmp = [startH stopH pauseH contH stepH countH frameH H(1) tmpH(1) tmpH(5)];
    set(InvKineFigH, 'userdata', tmp, 'HandleVisibility', 'on');

    set(startH, 'units', 'character');
    set(stopH, 'units', 'character');
    set(pauseH, 'units', 'character');
    set(contH, 'units', 'character');
    set(stepH, 'units', 'character');
    set(countH, 'units', 'character');
    set(infoH, 'units', 'character');
    set(closeH, 'units', 'character');
    
%elseif strcmp(action, 'set_extra_gui'),    % extra UI's
    % ====== extra UI
    % ====== The upper UI controls (Specific to each animation)
    cb1 = [mfilename '(''show_trail'')'];
    cb2 = [mfilename '(''clear_trail'')'];
    cb3 = '';
    cb4 = [mfilename '(''target_pos'')'];

    string1 = 'Show Trails';
    string2 = 'Clear Trails';
    string3 = 'Use the mouse to drag target oval inside yellow x marked area';
    string4 = 'Ellipse|Mouse-Driven|';

    [upH, upPos] = uiarray(Pos(1,:), 1, 4, spacing, 1*spacing, ...
        str2mat('check', 'push', 'text', 'popup'), ...
        str2mat(cb1, cb2, cb3, cb4), ...
        str2mat(string1, string2, string3, string4));
    set(upH(3), 'HorizontalAlignment', 'right');
    showTrailH = upH(1); set(showTrailH, 'tag', 'show_trail');
    signalH = upH(4);
    % The following will be put back if we have more than one
    % desired trajectory
    thispos1=get(upH(2),'Position');
    thispos1(1)=thispos1(1)*.7;
    thispos1(3)=thispos1(3)*.8;
    set(upH(2),  'Position', thispos1);
    thispos=get(upH(3),'Position');
    thispos(3)=thispos(3)*2.4;
    thispos(1)=thispos(1)*.8;
    set(upH(3),  'Position', thispos);
    
%    delete(upH(3));
    delete(upH(4));
    
    showTrailsUnits = get(showTrailH,'units');
    clearTrailsUnits = get(upH(2),'units');
    helptextUnits = get(upH(3),'units');
    
    set(showTrailH,'units','character');
    set(upH(2),'units','character');
    set(upH(3),'units','character');
    
    showTrailPosChar = get(showTrailH,'position');
    clearTrailPosChar = get(upH(2),'position');
    helptextPosChar = get(upH(3), 'position');

       
    if showTrailPosChar(3)<20
        showTrailPosChar(3) = 20;
    end
    
    cspacing = 2;

    
    if clearTrailPosChar(3)<18
        clearTrailPosChar(3) = 18;
        clearTrailPosChar(1) = ...
            showTrailPosChar(1)+showTrailPosChar(3)+cspacing;
    end

    helptextPosChar(1) = ...
        clearTrailPosChar(1)+clearTrailPosChar(3)+cspacing;
    helptextPosChar(3) = ...
        figPosChar(3)-(showTrailPosChar(3)+clearTrailPosChar(3)+cspacing);


    set(showTrailH,'position',showTrailPosChar);
    set(upH(2),'position',clearTrailPosChar);
    set(upH(3),'position',helptextPosChar, 'HorizontalAlignment','right');

%     set(showTrailH,'units',showTrailsUnits);
%     set(upH(2),'units',clearTrailsUnits);
%     set(upH(3),'units',helptextUnits);


    % ====== Appending handles as the second row of userdata
    tmp = [signalH showTrailH upH(2) upH(3) infoH closeH -1 -1 -1 -1];
    set(InvKineFigH, 'userdata', [get(InvKineFigH, 'userdata'); tmp]);
    

    % ====== change labels of standard UI controls
    %   tmp = get(InvKineFigH, 'userdata');
    %   set(tmp(1, 1), 'visible', 'off');
    %   set(tmp(1, 2:3), 'visible', 'on');

elseif strcmp(action, 'set_mouse_action'),
    % action when button is first pushed down
    action1 = [mfilename '(''mouse_action1'')'];
    % actions after the mouse is pushed down
    action2 = [mfilename '(''mouse_action2'')'];
    % action when button is released
    action3 = [mfilename '(''mouse_action3'')'];

    % temporary storage for the recall in the down_action
    set(gca,'UserData',action2);

    % set action when the mouse is pushed down
    down_action=[ ...
        'set(gcf,''WindowButtonMotionFcn'',get(gca,''UserData''));' ...
        action1];
    set(gcf,'WindowButtonDownFcn',down_action);

    % set action when the mouse is released
    up_action=[ ...
        'set(gcf,''WindowButtonMotionFcn'','' '');', action3];
    set(gcf,'WindowButtonUpFcn',up_action);
elseif strcmp(action, 'set_init_cond'),
    % This is called whenevern going from "stop" to "start"
    InvKineCount = 1;
    % set desired trajectory
    r1 = 5; r2 = 3;         % axes for reference ellipse
    center = 11*exp(j*pi/3);    % center for reference ellipse
    data_n = 50;
    t = linspace(0, 2*pi, data_n)-pi/2;
    desired_traj = r1*cos(t) + j*r2*sin(t) +  center;
    tmp = get(findobj(0, 'name', InvKineFigTitle), 'userdata');
    desired_trajH = tmp(3, 4);
    set(desired_trajH, 'xdata', real(desired_traj));
    set(desired_trajH, 'ydata', imag(desired_traj));
    % set actually trajectory
    actual_trajH = tmp(3, 5);
    data = desired_traj(1)*ones(2,1);
    set(actual_trajH, 'xdata', real(data));
    set(actual_trajH, 'ydata', imag(data));
    eval([mfilename, '(''clear_trail'')']);
elseif strcmp(action, 'set_anim_obj'),
    
    l1 = 10; l2 = 7;        % specifications for robot arms
    r1 = 5; r2 = 3;         % axes for reference ellipse

    % ====== Plot locations for the training data
    load invkine.mat
    axis([0 l1+l2 0 l1+l2]);% ====== setting axis
    tmp = line(invkine1(:, 1), invkine1(:, 2));
    set(tmp, 'Marker', 'x', 'LineStyle', 'none', 'HitTest', 'off');
    xlabel('X'); ylabel('Y');
    axis equal;
%    axis square;