clcpdef.m

机器人控制仿真程序一书的所有源代码

function [P,G,H,F,sgn,typ]=clcpdef(P,G,H,F,sgn,typ)
% CLCPDEF Defaults for CLCP. (Utility Function)
%         CLCPDEF sets the defaults for whatever the user either passed in
%         as [] or did not specify at all for CLCP.

% Author: Craig Borghesani
% Date: 9/2/93
% Revised: 2/17/96 11:03 AM V1.1 updates
% Copyright (c) 1995-98 by The MathWorks, Inc.
%       $Revision: 1.4 $

if ~length(P), P=1; end
if ~length(G), G=1; end
if ~length(H), H=1; end
if ~length(F), F=1; end
if ~length(sgn), sgn=-1; end
if ~length(typ), typ=1; end

[rp,cp]=size(P); [rg,cg]=size(G); [rh,ch]=size(H); [rf,cf]=size(F);
chk=[cp cg ch cf]; chk(find(chk==1))=[];
if diff(chk)~=0 & length(chk)>1,
 error('Elements in clcp must have equal columns or be just one number');
end

% make all matrices that have only one element the same size of the other
% matrices

cm=max([cp cg ch cf]);

if cp == 1, P=P(:,ones(1,cm)); end
if cg == 1, G=G(:,ones(1,cm)); end
if ch == 1, H=H(:,ones(1,cm)); end
if cf == 1, F=F(:,ones(1,cm)); end