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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/REC-html40/loose.dtd"><html><head> <title>Description of ctraj</title> <meta name="keywords" content="ctraj"> <meta name="description" content="CTRAJ Compute a Cartesian trajectory between two points"> <meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1"> <meta name="generator" content="m2html © 2003 Guillaume Flandin"> <meta name="robots" content="index, follow"> <link type="text/css" rel="stylesheet" href="./m2html.css"></head><body><a name="_top"></a><div><a href="./index.html">Home</a> > <a href="index.html">.</a> > ctraj.m</div><!--<table width="100%"><tr><td align="left"><a href="./index.html"><img alt="<" border="0" src="./left.png"> Master index</a></td><td align="right"><a href="index.html">Index for . <img alt=">" border="0" src="./right.png"></a></td></tr></table>--><h1>ctraj</h1><h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="box"><strong>CTRAJ Compute a Cartesian trajectory between two points</strong></div><h2><a name="_synopsis"></a>SYNOPSIS <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="box"><strong>function tt = ctraj(t0, t1, n) </strong></div><h2><a name="_description"></a>DESCRIPTION <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="fragment"><pre class="comment">CTRAJ Compute a Cartesian trajectory between two points TC = CTRAJ(T0, T1, N) TC = CTRAJ(T0, T1, R) Returns a Cartesian trajectory TC from point T0 to T1. The number of points is N or the length of the given path distance vector R. In the first case the points are equally spaced between T0 and T1. In the second case R gives the distance along the path, and the elements of R must be in the range [0 1]. Each trajectory is a 4x4xn matrix, with the last subscript being the point index. SEE ALSO: <a href="trinterp.html" class="code" title="function t = trinterp(T0, T1, r)">TRINTERP</a>, QINTERP, <a href="transl.html" class="code" title="function r = transl(x, y, z)">TRANSL</a>.</pre></div><!-- crossreference --><h2><a name="_cross"></a>CROSS-REFERENCE INFORMATION <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2>This function calls:<ul style="list-style-image:url(./matlabicon.gif)"><li><a href="trinterp.html" class="code" title="function t = trinterp(T0, T1, r)">trinterp</a> TRINTERP Interpolate homogeneous transformations</li></ul>This function is called by:<ul style="list-style-image:url(./matlabicon.gif)"></ul><!-- crossreference --><h2><a name="_source"></a>SOURCE CODE <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="fragment"><pre>0001 <span class="comment">%CTRAJ Compute a Cartesian trajectory between two points</span>0002 <span class="comment">%</span>0003 <span class="comment">% TC = CTRAJ(T0, T1, N)</span>0004 <span class="comment">% TC = CTRAJ(T0, T1, R)</span>0005 <span class="comment">%</span>0006 <span class="comment">% Returns a Cartesian trajectory TC from point T0 to T1. The number</span>0007 <span class="comment">% of points is N or the length of the given path distance vector R.</span>0008 <span class="comment">%</span>0009 <span class="comment">% In the first case the points are equally spaced between T0 and T1.</span>0010 <span class="comment">% In the second case R gives the distance along the path, and the</span>0011 <span class="comment">% elements of R must be in the range [0 1].</span>0012 <span class="comment">%</span>0013 <span class="comment">% Each trajectory is a 4x4xn matrix, with the last subscript being the</span>0014 <span class="comment">% point index.</span>0015 <span class="comment">%</span>0016 <span class="comment">% SEE ALSO: TRINTERP, QINTERP, TRANSL.</span>0017 <span class="comment">%</span>0018 0019 <span class="comment">% Copyright (C) 1993-2008, by Peter I. Corke</span>0020 <span class="comment">%</span>0021 <span class="comment">% This file is part of The Robotics Toolbox for Matlab (RTB).</span>0022 <span class="comment">%</span>0023 <span class="comment">% RTB is free software: you can redistribute it and/or modify</span>0024 <span class="comment">% it under the terms of the GNU Lesser General Public License as published by</span>0025 <span class="comment">% the Free Software Foundation, either version 3 of the License, or</span>0026 <span class="comment">% (at your option) any later version.</span>0027 <span class="comment">%</span>0028 <span class="comment">% RTB is distributed in the hope that it will be useful,</span>0029 <span class="comment">% but WITHOUT ANY WARRANTY; without even the implied warranty of</span>0030 <span class="comment">% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>0031 <span class="comment">% GNU Lesser General Public License for more details.</span>0032 <span class="comment">%</span>0033 <span class="comment">% You should have received a copy of the GNU Leser General Public License</span>0034 <span class="comment">% along with RTB. If not, see <http://www.gnu.org/licenses/>.</span>0035 0036 <a name="_sub0" href="#_subfunctions" class="code">function tt = ctraj(t0, t1, n)</a>0037 <span class="keyword">if</span> length(n) == 1,0038 i = 1:n;0039 r = (i-1)/(n-1);0040 <span class="keyword">else</span>0041 r = n(:)';0042 n = length(r);0043 <span class="keyword">end</span>0044 0045 <span class="keyword">if</span> any(r> 1) | any(r<0),0046 error(<span class="string">'path position values (R) must 0<=R<=1)'</span>)0047 <span class="keyword">end</span>0048 tt = zeros(4,4,0);0049 0050 <span class="keyword">for</span> R=r,0051 tt = cat(3, tt, <a href="trinterp.html" class="code" title="function t = trinterp(T0, T1, r)">trinterp</a>(t0, t1, R));0052 <span class="keyword">end</span>0053 0054</pre></div><hr><address>Generated on Sun 15-Feb-2009 18:09:29 by <strong><a href="http://www.artefact.tk/software/matlab/m2html/">m2html</a></strong> © 2003</address></body></html>⌨️ 快捷键说明
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