📄 subsref.html
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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 subsref</title> <meta name="keywords" content="subsref"> <meta name="description" content="SUBSREF Reference methods on a ROBOT object"> <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="#">@robot</a> > subsref.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 ./@robot <img alt=">" border="0" src="../right.png"></a></td></tr></table>--><h1>subsref</h1><h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="box"><strong>SUBSREF Reference methods on a ROBOT object</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 v = subsref(r, s) </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">SUBSREF Reference methods on a ROBOT object ROBOT.n return number of links ROBOT.link return cell array of link objects ROBOT.gravity return gravity vector ROBOT.base return homog xform of robot base ROBOT.tool return homog xform of robot tool ROBOT.qlim return joint limit matrix ROBOT.offset return joint offset vector ROBOT.mdh return MDH convention boolean (0=DH, 1=MDH) ROBOT.islimit return joint limit boolean vector ROBOT.name return name of robot ROBOT.manuf return who built it ROBOT.comment return general comment ROBOT.config return joint configuration string ROBOT.plotopt return options for plot(robot) ROBOT.lineopt return line drawing option string for links ROBOT.shadowopt return line drawing option string for shadow ROBOT.handle return graphics handles in object ROBOT.q return joint angles for plot(robot) ROBOT.dh return legacy DH matrix ROBOT.dyn return legacy DYN matrix</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="char.html" class="code" title="function s = char(r)">char</a> CHAR String representation of robot parametesrs</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">%SUBSREF Reference methods on a ROBOT object</span>0002 <span class="comment">%</span>0003 <span class="comment">% ROBOT.n return number of links</span>0004 <span class="comment">% ROBOT.link return cell array of link objects</span>0005 <span class="comment">% ROBOT.gravity return gravity vector</span>0006 <span class="comment">% ROBOT.base return homog xform of robot base</span>0007 <span class="comment">% ROBOT.tool return homog xform of robot tool</span>0008 <span class="comment">% ROBOT.qlim return joint limit matrix</span>0009 <span class="comment">% ROBOT.offset return joint offset vector</span>0010 <span class="comment">% ROBOT.mdh return MDH convention boolean (0=DH, 1=MDH)</span>0011 <span class="comment">%</span>0012 <span class="comment">% ROBOT.islimit return joint limit boolean vector</span>0013 <span class="comment">%</span>0014 <span class="comment">% ROBOT.name return name of robot</span>0015 <span class="comment">% ROBOT.manuf return who built it</span>0016 <span class="comment">% ROBOT.comment return general comment</span>0017 <span class="comment">% ROBOT.config return joint configuration string</span>0018 <span class="comment">%</span>0019 <span class="comment">% ROBOT.plotopt return options for plot(robot)</span>0020 <span class="comment">% ROBOT.lineopt return line drawing option string for links</span>0021 <span class="comment">% ROBOT.shadowopt return line drawing option string for shadow</span>0022 <span class="comment">% ROBOT.handle return graphics handles in object</span>0023 <span class="comment">% ROBOT.q return joint angles for plot(robot)</span>0024 <span class="comment">%</span>0025 <span class="comment">% ROBOT.dh return legacy DH matrix</span>0026 <span class="comment">% ROBOT.dyn return legacy DYN matrix</span>0027 0028 <span class="comment">% Copyright (C) 1999-2008, by Peter I. Corke</span>0029 <span class="comment">%</span>0030 <span class="comment">% This file is part of The Robotics Toolbox for Matlab (RTB).</span>0031 <span class="comment">%</span>0032 <span class="comment">% RTB is free software: you can redistribute it and/or modify</span>0033 <span class="comment">% it under the terms of the GNU Lesser General Public License as published by</span>0034 <span class="comment">% the Free Software Foundation, either version 3 of the License, or</span>0035 <span class="comment">% (at your option) any later version.</span>0036 <span class="comment">%</span>0037 <span class="comment">% RTB is distributed in the hope that it will be useful,</span>0038 <span class="comment">% but WITHOUT ANY WARRANTY; without even the implied warranty of</span>0039 <span class="comment">% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>0040 <span class="comment">% GNU Lesser General Public License for more details.</span>0041 <span class="comment">%</span>0042 <span class="comment">% You should have received a copy of the GNU Leser General Public License</span>0043 <span class="comment">% along with RTB. If not, see <http://www.gnu.org/licenses/>.</span>0044 0045 <a name="_sub0" href="#_subfunctions" class="code">function v = subsref(r, s)</a>0046 0047 <span class="keyword">if</span> s(1).type ~= <span class="string">'.'</span>0048 <span class="comment">%error('only .field supported')</span>0049 <span class="keyword">end</span>0050 0051 <span class="comment">% NOTE WELL: the following code can't use getfield() since</span>0052 <span class="comment">% getfield() uses this, and Matlab will crash!!</span>0053 0054 el = <a href="char.html" class="code" title="function s = char(r)">char</a>(s(1).subs);0055 <span class="keyword">switch</span> el,0056 <span class="comment">%%%%%%%%% retrieve robot parameters</span>0057 <span class="keyword">case</span> <span class="string">'n'</span>,0058 v = r.n;0059 <span class="keyword">case</span> <span class="string">'gravity'</span>0060 v = r.gravity;0061 <span class="keyword">case</span> <span class="string">'tool'</span>0062 v = r.tool;0063 <span class="keyword">case</span> <span class="string">'base'</span>0064 v = r.base;0065 <span class="keyword">case</span> <span class="string">'mdh'</span>,0066 v = r.mdh;0067 0068 <span class="keyword">case</span> {<span class="string">'link'</span>, <span class="string">'links'</span>},0069 <span class="keyword">if</span> length(s) == 1,0070 v = r.link;0071 <span class="keyword">elseif</span> s(2).type == <span class="string">'{}'</span>0072 j = s(2).subs;0073 j = j{1};0074 <span class="keyword">if</span> (j < 1) | (j > r.n)0075 error(<span class="string">'link index out of bounds'</span>)0076 <span class="keyword">end</span>0077 v = r.link{j};0078 <span class="keyword">end</span>0079 <span class="keyword">case</span> <span class="string">'offset'</span>,0080 L = r.link;0081 v = [];0082 <span class="keyword">for</span> i=1:r.n,0083 v = [v; L{i}.offset];0084 <span class="keyword">end</span>0085 <span class="keyword">case</span> <span class="string">'qlim'</span>,0086 L = r.link;0087 v = [];0088 <span class="keyword">for</span> i=1:r.n,0089 v = [v; L{i}.qlim];0090 <span class="keyword">end</span>0091 0092 <span class="comment">%%%%%%%%% descriptive strings</span>0093 <span class="keyword">case</span> <span class="string">'name'</span>,0094 v = r.name;0095 <span class="keyword">case</span> <span class="string">'manuf'</span>,0096 v = r.manuf;0097 <span class="keyword">case</span> <span class="string">'comment'</span>,0098 v = r.comment;0099 <span class="keyword">case</span> <span class="string">'config'</span>,0100 L = r.link;0101 v = <span class="string">''</span>;0102 <span class="keyword">for</span> i=1:r.n,0103 v(i) = L{i}.RP;0104 <span class="keyword">end</span>0105 0106 <span class="comment">%%%%%%%%% joint limit test</span>0107 <span class="keyword">case</span> <span class="string">'islimit'</span>,0108 L = r.link;0109 <span class="keyword">if</span> s(2).type ~= <span class="string">'()'</span>0110 error(<span class="string">'expecting argument for islimit method'</span>);0111 <span class="keyword">end</span>0112 q = s(2).subs{1};0113 <span class="keyword">if</span> length(q) ~= r.n,0114 error(<span class="string">'argument for islimit method is wrong length'</span>);0115 <span class="keyword">end</span>0116 v = [];0117 <span class="keyword">for</span> i=1:r.n,0118 v = [v; L{i}.islimit(q(i))];0119 <span class="keyword">end</span>0120 <span class="comment">%%%%%%%%% legacy DH/DYN support</span>0121 <span class="keyword">case</span> <span class="string">'dh'</span>,0122 v = [];0123 L = r.link;0124 <span class="keyword">for</span> i=1:r.n,0125 v = [v; L{i}.dh];0126 <span class="keyword">end</span>0127 <span class="keyword">case</span> <span class="string">'dyn'</span>0128 v = [];0129 L = r.link;0130 <span class="keyword">for</span> i=1:r.n,0131 v = [v; L{i}.dyn];0132 <span class="keyword">end</span>0133 0134 <span class="comment">%%%%%%%%% graphics support</span>0135 <span class="keyword">case</span> <span class="string">'q'</span>,0136 v = r.q;0137 <span class="keyword">case</span> <span class="string">'plotopt'</span>,0138 v = r.plotopt;0139 <span class="keyword">case</span> <span class="string">'lineopt'</span>0140 v = r.lineopt;0141 <span class="keyword">case</span> <span class="string">'shadowopt'</span>0142 v = r.shadowopt;0143 <span class="keyword">case</span> {<span class="string">'show'</span>, <span class="string">'handle'</span>}0144 v = r.handle';0145 <span class="keyword">otherwise</span>, error(<span class="string">'Unknown method'</span>)0146 <span class="keyword">end</span></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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