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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 char</title> <meta name="keywords" content="char"> <meta name="description" content="CHAR String representation of robot parametesrs"> <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> > char.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>char</h1><h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="box"><strong>CHAR String representation of robot parametesrs</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 s = char(r) </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">CHAR String representation of robot parametesrs</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)"><li><a href="char.html" class="code" title="function s = char(r)">char</a> CHAR String representation of robot parametesrs</li><li><a href="display.html" class="code" title="function display(r)">display</a> DISPLAY Display a robot object</li><li><a href="subsref.html" class="code" title="function v = subsref(r, s)">subsref</a> SUBSREF Reference methods on a ROBOT object</li></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">%CHAR String representation of robot parametesrs</span>0002 0003 <span class="comment">% Copyright (C) 1999-2008, by Peter I. Corke</span>0004 <span class="comment">%</span>0005 <span class="comment">% This file is part of The Robotics Toolbox for Matlab (RTB).</span>0006 <span class="comment">%</span>0007 <span class="comment">% RTB is free software: you can redistribute it and/or modify</span>0008 <span class="comment">% it under the terms of the GNU Lesser General Public License as published by</span>0009 <span class="comment">% the Free Software Foundation, either version 3 of the License, or</span>0010 <span class="comment">% (at your option) any later version.</span>0011 <span class="comment">%</span>0012 <span class="comment">% RTB is distributed in the hope that it will be useful,</span>0013 <span class="comment">% but WITHOUT ANY WARRANTY; without even the implied warranty of</span>0014 <span class="comment">% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>0015 <span class="comment">% GNU Lesser General Public License for more details.</span>0016 <span class="comment">%</span>0017 <span class="comment">% You should have received a copy of the GNU Leser General Public License</span>0018 <span class="comment">% along with RTB. If not, see <http://www.gnu.org/licenses/>.</span>0019 0020 <a name="_sub0" href="#_subfunctions" class="code">function s = char(r)</a>0021 0022 <span class="comment">% build a configuration string</span>0023 rp = [];0024 <span class="keyword">for</span> i = 1:r.n,0025 rp = [rp r.link{i}.RP];0026 <span class="keyword">end</span>0027 0028 s = sprintf(<span class="string">'%s (%d axis, %s)'</span>, r.name, r.n, rp);0029 0030 <span class="keyword">if</span> ~isempty(r.manuf)0031 s = strcat(s, [<span class="string">' ['</span> r.manuf <span class="string">']'</span>]);0032 <span class="keyword">end</span>0033 <span class="keyword">if</span> ~isempty(r.comment)0034 s = strcat(s, [<span class="string">' <'</span> r.comment <span class="string">'>'</span>]);0035 <span class="keyword">end</span>0036 s = strcat(s, sprintf(<span class="string">'\n\t\tgrav = [%.2f %.2f %.2f]\n'</span>, r.gravity));0037 <span class="keyword">if</span> getfield(r, <span class="string">'mdh'</span>) == 0,0038 s = strcat(s, sprintf(<span class="string">'\t\tstandard D&H parameters\n'</span>));0039 <span class="keyword">else</span>0040 s = strcat(s, sprintf(<span class="string">'\t\tmodified D&H parameters\n'</span>));0041 <span class="keyword">end</span>0042 0043 s = strcat(s, sprintf(<span class="string">'\n\n alpha\t\t A\t\t theta\t\t D\t\tR/P\n'</span>));0044 <span class="keyword">for</span> i = 1:r.n,0045 s = strcat(s, sprintf(<span class="string">'\n%s'</span>, <a href="char.html" class="code" title="function s = char(r)">char</a>(r.link{i})));0046 <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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