drivebot.html

Robot tool box - provides many functions that are useful in robotics including such things as kinem

0110         set(fig,<span class="string">'MenuBar'</span>,<span class="string">'none'</span>)
0111         delete( get(fig, <span class="string">'Children'</span>) )
0112 
0113         <span class="comment">% first we check to see if there are any graphical robots of</span>
0114         <span class="comment">% this name, if so we use them, otherwise create a robot plot.</span>
0115 
0116         rh = findobj(<span class="string">'Tag'</span>, r.name);
0117 
0118         <span class="comment">% attempt to get current joint config of graphical robot</span>
0119         <span class="keyword">if</span> ~isempty(rh),
0120             rr = get(rh(1), <span class="string">'UserData'</span>);
0121             <span class="keyword">if</span> ~isempty(rr.q),
0122                 q = rr.q;
0123             <span class="keyword">end</span>
0124         <span class="keyword">end</span>
0125 
0126 
0127         <span class="comment">% now make the sliders</span>
0128         <span class="keyword">for</span> i=1:n,
0129             uicontrol(fig, <span class="string">'Style'</span>, <span class="string">'text'</span>, <span class="keyword">...</span>
0130                 <span class="string">'Units'</span>, <span class="string">'pixels'</span>, <span class="keyword">...</span>
0131                 <span class="string">'BackgroundColor'</span>, bgcol, <span class="keyword">...</span>
0132                 <span class="string">'Position'</span>, [0 height*(n-i) width*0.1 height*0.4], <span class="keyword">...</span>
0133                 <span class="string">'String'</span>, sprintf(<span class="string">'q%d'</span>, i));
0134 
0135             h(i) = uicontrol(fig, <span class="string">'Style'</span>, <span class="string">'slider'</span>, <span class="keyword">...</span>
0136                 <span class="string">'Units'</span>, <span class="string">'pixels'</span>, <span class="keyword">...</span>
0137                 <span class="string">'Position'</span>, [width*0.1 height*(n-i) width*0.7 height*0.4], <span class="keyword">...</span>
0138                 <span class="string">'Min'</span>, scale(i)*qlim(i,1), <span class="keyword">...</span>
0139                 <span class="string">'Max'</span>, scale(i)*qlim(i,2), <span class="keyword">...</span>
0140                 <span class="string">'Value'</span>, scale(i)*q(i), <span class="keyword">...</span>
0141                 <span class="string">'Tag'</span>, sprintf(<span class="string">'Slider%d'</span>, i), <span class="keyword">...</span>
0142                 <span class="string">'Callback'</span>, [<span class="string">'drivebot('''</span> r.name <span class="string">''','</span> num2str(i) <span class="string">')'</span>]);
0143 
0144             h2(i) = uicontrol(fig, <span class="string">'Style'</span>, <span class="string">'edit'</span>, <span class="keyword">...</span>
0145                 <span class="string">'Units'</span>, <span class="string">'pixels'</span>, <span class="keyword">...</span>
0146                 <span class="string">'Position'</span>, [width*0.8 height*(n-i-0.1) width*0.2 height*0.7], <span class="keyword">...</span>
0147                 <span class="string">'String'</span>, num2str(scale(i)*q(i)), <span class="keyword">...</span>
0148                 <span class="string">'Tag'</span>, sprintf(<span class="string">'Edit%d'</span>, i), <span class="keyword">...</span>
0149                 <span class="string">'Callback'</span>, [<span class="string">'drivebot('''</span> r.name <span class="string">''','</span> num2str(i) <span class="string">')'</span>]);
0150 
0151             <span class="comment">% hang handles off the slider and edit objects</span>
0152             handles = {h(i) h2(i) scale};
0153             set(h(i), <span class="string">'Userdata'</span>, handles);
0154             set(h2(i), <span class="string">'Userdata'</span>, handles);
0155         <span class="keyword">end</span>
0156 
0157         uicontrol(fig, <span class="string">'Style'</span>, <span class="string">'text'</span>, <span class="keyword">...</span>
0158             <span class="string">'Units'</span>, <span class="string">'pixels'</span>, <span class="keyword">...</span>
0159             <span class="string">'FontSize'</span>, 20, <span class="keyword">...</span>
0160             <span class="string">'HorizontalAlignment'</span>, <span class="string">'left'</span>, <span class="keyword">...</span>
0161             <span class="string">'Position'</span>, [0 height*(n+1) 0.8*width height], <span class="keyword">...</span>
0162             <span class="string">'BackgroundColor'</span>, <span class="string">'white'</span>, <span class="keyword">...</span>
0163             <span class="string">'String'</span>, r.name);
0164 
0165         <span class="comment">% X</span>
0166         uicontrol(fig, <span class="string">'Style'</span>, <span class="string">'text'</span>, <span class="keyword">...</span>
0167             <span class="string">'Units'</span>, <span class="string">'pixels'</span>, <span class="keyword">...</span>
0168             <span class="string">'BackgroundColor'</span>, bgcol, <span class="keyword">...</span>
0169             <span class="string">'Position'</span>, [0 height*(n+0.5) 0.06*width height/2], <span class="keyword">...</span>
0170             <span class="string">'BackgroundColor'</span>, <span class="string">'yellow'</span>, <span class="keyword">...</span>
0171             <span class="string">'FontSize'</span>, 10, <span class="keyword">...</span>
0172             <span class="string">'HorizontalAlignment'</span>, <span class="string">'left'</span>, <span class="keyword">...</span>
0173             <span class="string">'String'</span>, <span class="string">'x:'</span>);
0174 
0175         h3(1,1) = uicontrol(fig, <span class="string">'Style'</span>, <span class="string">'edit'</span>, <span class="keyword">...</span>
0176             <span class="string">'Units'</span>, <span class="string">'pixels'</span>, <span class="keyword">...</span>
0177             <span class="string">'Position'</span>, [0.06*width height*(n+0.5) width*0.2 height*0.6], <span class="keyword">...</span>
0178             <span class="string">'String'</span>, sprintf(<span class="string">'%.3f'</span>, t6(1,4)), <span class="keyword">...</span>
0179             <span class="string">'Tag'</span>, <span class="string">'T6'</span>);
0180 
0181         <span class="comment">% Y</span>
0182         uicontrol(fig, <span class="string">'Style'</span>, <span class="string">'text'</span>, <span class="keyword">...</span>
0183             <span class="string">'Units'</span>, <span class="string">'pixels'</span>, <span class="keyword">...</span>
0184             <span class="string">'BackgroundColor'</span>, bgcol, <span class="keyword">...</span>
0185             <span class="string">'Position'</span>, [0.26*width height*(n+0.5) 0.06*width height/2], <span class="keyword">...</span>
0186             <span class="string">'BackgroundColor'</span>, <span class="string">'yellow'</span>, <span class="keyword">...</span>
0187             <span class="string">'FontSize'</span>, 10, <span class="keyword">...</span>
0188             <span class="string">'HorizontalAlignment'</span>, <span class="string">'left'</span>, <span class="keyword">...</span>
0189             <span class="string">'String'</span>, <span class="string">'y:'</span>);
0190 
0191         h3(2,1) = uicontrol(fig, <span class="string">'Style'</span>, <span class="string">'edit'</span>, <span class="keyword">...</span>
0192             <span class="string">'Units'</span>, <span class="string">'pixels'</span>, <span class="keyword">...</span>
0193             <span class="string">'Position'</span>, [0.32*width height*(n+0.5) width*0.2 height*0.6], <span class="keyword">...</span>
0194             <span class="string">'String'</span>, sprintf(<span class="string">'%.3f'</span>, t6(2,4)));
0195 
0196         <span class="comment">% Z</span>
0197         uicontrol(fig, <span class="string">'Style'</span>, <span class="string">'text'</span>, <span class="keyword">...</span>
0198             <span class="string">'Units'</span>, <span class="string">'pixels'</span>, <span class="keyword">...</span>
0199             <span class="string">'BackgroundColor'</span>, bgcol, <span class="keyword">...</span>
0200             <span class="string">'Position'</span>, [0.52*width height*(n+0.5) 0.06*width height/2], <span class="keyword">...</span>
0201             <span class="string">'BackgroundColor'</span>, <span class="string">'yellow'</span>, <span class="keyword">...</span>
0202             <span class="string">'FontSize'</span>, 10, <span class="keyword">...</span>
0203             <span class="string">'HorizontalAlignment'</span>, <span class="string">'left'</span>, <span class="keyword">...</span>
0204             <span class="string">'String'</span>, <span class="string">'z:'</span>);
0205 
0206         h3(3,1) = uicontrol(fig, <span class="string">'Style'</span>, <span class="string">'edit'</span>, <span class="keyword">...</span>
0207             <span class="string">'Units'</span>, <span class="string">'pixels'</span>, <span class="keyword">...</span>
0208             <span class="string">'Position'</span>, [0.58*width height*(n+0.5) width*0.2 height*0.6], <span class="keyword">...</span>
0209             <span class="string">'String'</span>, sprintf(<span class="string">'%.3f'</span>, t6(3,4)));
0210 
0211         <span class="comment">% AX</span>
0212         uicontrol(fig, <span class="string">'Style'</span>, <span class="string">'text'</span>, <span class="keyword">...</span>
0213             <span class="string">'Units'</span>, <span class="string">'pixels'</span>, <span class="keyword">...</span>
0214             <span class="string">'BackgroundColor'</span>, bgcol, <span class="keyword">...</span>
0215             <span class="string">'Position'</span>, [0 height*(n) 0.06*width height/2], <span class="keyword">...</span>
0216             <span class="string">'BackgroundColor'</span>, <span class="string">'yellow'</span>, <span class="keyword">...</span>
0217             <span class="string">'FontSize'</span>, 10, <span class="keyword">...</span>
0218             <span class="string">'HorizontalAlignment'</span>, <span class="string">'left'</span>, <span class="keyword">...</span>
0219             <span class="string">'String'</span>, <span class="string">'ax:'</span>);
0220 
0221         h3(1,2) = uicontrol(fig, <span class="string">'Style'</span>, <span class="string">'edit'</span>, <span class="keyword">...</span>
0222             <span class="string">'Units'</span>, <span class="string">'pixels'</span>, <span class="keyword">...</span>
0223             <span class="string">'Position'</span>, [0.06*width height*(n) width*0.2 height*0.6], <span class="keyword">...</span>
0224             <span class="string">'String'</span>, sprintf(<span class="string">'%.3f'</span>, t6(1,3)));
0225 
0226         <span class="comment">% AY</span>
0227         uicontrol(fig, <span class="string">'Style'</span>, <span class="string">'text'</span>, <span class="keyword">...</span>
0228             <span class="string">'Units'</span>, <span class="string">'pixels'</span>, <span class="keyword">...</span>
0229             <span class="string">'BackgroundColor'</span>, bgcol, <span class="keyword">...</span>
0230             <span class="string">'Position'</span>, [0.26*width height*(n) 0.06*width height/2], <span class="keyword">...</span>
0231             <span class="string">'BackgroundColor'</span>, <span class="string">'yellow'</span>, <span class="keyword">...</span>
0232             <span class="string">'FontSize'</span>, 10, <span class="keyword">...</span>
0233             <span class="string">'HorizontalAlignment'</span>, <span class="string">'left'</span>, <span class="keyword">...</span>
0234             <span class="string">'String'</span>, <span class="string">'ay:'</span>);
0235 
0236         h3(2,2) = uicontrol(fig, <span class="string">'Style'</span>, <span class="string">'edit'</span>, <span class="keyword">...</span>
0237             <span class="string">'Units'</span>, <span class="string">'pixels'</span>, <span class="keyword">...</span>
0238             <span class="string">'Position'</span>, [0.32*width height*(n) width*0.2 height*0.6], <span class="keyword">...</span>
0239             <span class="string">'String'</span>, sprintf(<span class="string">'%.3f'</span>, t6(2,3)));
0240 
0241         <span class="comment">% AZ</span>
0242         uicontrol(fig, <span class="string">'Style'</span>, <span class="string">'text'</span>, <span class="keyword">...</span>
0243             <span class="string">'Units'</span>, <span class="string">'pixels'</span>, <span class="keyword">...</span>
0244             <span class="string">'BackgroundColor'</span>, bgcol, <span class="keyword">...</span>
0245             <span class="string">'Position'</span>, [0.52*width height*(n) 0.06*width height/2], <span class="keyword">...</span>
0246             <span class="string">'BackgroundColor'</span>, <span class="string">'yellow'</span>, <span class="keyword">...</span>
0247             <span class="string">'FontSize'</span>, 10, <span class="keyword">...</span>
0248             <span class="string">'HorizontalAlignment'</span>, <span class="string">'left'</span>, <span class="keyword">...</span>
0249             <span class="string">'String'</span>, <span class="string">'az:'</span>);
0250 
0251         h3(3,2) = uicontrol(fig, <span class="string">'Style'</span>, <span class="string">'edit'</span>, <span class="keyword">...</span>
0252             <span class="string">'Units'</span>, <span class="string">'pixels'</span>, <span class="keyword">...</span>
0253             <span class="string">'Position'</span>, [0.58*width height*(n) width*0.2 height*0.6], <span class="keyword">...</span>
0254             <span class="string">'String'</span>, sprintf(<span class="string">'%.3f'</span>, t6(3,3)));
0255 
0256 
0257         set(h3(1,1), <span class="string">'Userdata'</span>, h3);
0258         uicontrol(fig, <span class="string">'Style'</span>, <span class="string">'pushbutton'</span>, <span class="keyword">...</span>
0259             <span class="string">'Units'</span>, <span class="string">'pixels'</span>, <span class="keyword">...</span>
0260             <span class="string">'FontSize'</span>, 16, <span class="keyword">...</span>
0261             <span class="string">'Position'</span>, [0.8*width height*n 0.2*width 2*height], <span class="keyword">...</span>
0262             <span class="string">'CallBack'</span>, <span class="string">'delete(gcf)'</span>, <span class="keyword">...</span>
0263             <span class="string">'BackgroundColor'</span>, <span class="string">'red'</span>, <span class="keyword">...</span>
0264             <span class="string">'String'</span>, <span class="string">'Quit'</span>);
0265 
0266 
0267         <span class="keyword">if</span> isempty(rh),
0268             figure
0269             plot(r, q);
0270         <span class="keyword">end</span>
0271     <span class="keyword">end</span></pre></div>
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