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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 subsasgn</title> <meta name="keywords" content="subsasgn"> <meta name="description" content="SUBSASGN assignment methods on a LINK 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="#">@link</a> > subsasgn.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 ./@link <img alt=">" border="0" src="../right.png"></a></td></tr></table>--><h1>subsasgn</h1><h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="box"><strong>SUBSASGN assignment methods on a LINK 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 l = subsasgn(l, s, v) </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">SUBSASGN assignment methods on a LINK object LINK.alpha = alpha kinematic parameters LINK.A = A LINK.theta = theta LINK.D = D LINK.sigma = sigma 1 if joint is prismatic LINK.I = 3x3 inertia matrix about link COG LINK.I = 6x1 inertia vector [Ixx Iyy Izz Ixy Iyz Ixz] about link COG LINK.m = link mass LINK.r = 3vector link COG wrt link coordinate frame LINK.B = link viscous friction (motor referred) LINK.Tc = link Coulomb friction 1 element if symmetric, else 2 LINK.G = G gear ratio LINK.Jm = Jm gear ratio (motor referred) LINK.qlim = 2 x 1 joint limit matrix [lower upper] LINK.offset = q0 joint coordinate offset</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)"></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">%SUBSASGN assignment methods on a LINK object</span>0002 <span class="comment">%</span>0003 <span class="comment">% LINK.alpha = alpha kinematic parameters</span>0004 <span class="comment">% LINK.A = A</span>0005 <span class="comment">% LINK.theta = theta</span>0006 <span class="comment">% LINK.D = D</span>0007 <span class="comment">% LINK.sigma = sigma 1 if joint is prismatic</span>0008 <span class="comment">%</span>0009 <span class="comment">% LINK.I = 3x3 inertia matrix about link COG</span>0010 <span class="comment">% LINK.I = 6x1 inertia vector [Ixx Iyy Izz Ixy Iyz Ixz] about link COG</span>0011 <span class="comment">% LINK.m = link mass</span>0012 <span class="comment">% LINK.r = 3vector link COG wrt link coordinate frame</span>0013 <span class="comment">%</span>0014 <span class="comment">% LINK.B = link viscous friction (motor referred)</span>0015 <span class="comment">% LINK.Tc = link Coulomb friction 1 element if symmetric, else 2</span>0016 <span class="comment">%</span>0017 <span class="comment">% LINK.G = G gear ratio</span>0018 <span class="comment">% LINK.Jm = Jm gear ratio (motor referred)</span>0019 <span class="comment">%</span>0020 <span class="comment">% LINK.qlim = 2 x 1 joint limit matrix [lower upper]</span>0021 <span class="comment">% LINK.offset = q0 joint coordinate offset</span>0022 0023 <span class="comment">% Copyright (C) 1999-2008, by Peter I. Corke</span>0024 <span class="comment">%</span>0025 <span class="comment">% This file is part of The Robotics Toolbox for Matlab (RTB).</span>0026 <span class="comment">%</span>0027 <span class="comment">% RTB is free software: you can redistribute it and/or modify</span>0028 <span class="comment">% it under the terms of the GNU Lesser General Public License as published by</span>0029 <span class="comment">% the Free Software Foundation, either version 3 of the License, or</span>0030 <span class="comment">% (at your option) any later version.</span>0031 <span class="comment">%</span>0032 <span class="comment">% RTB is distributed in the hope that it will be useful,</span>0033 <span class="comment">% but WITHOUT ANY WARRANTY; without even the implied warranty of</span>0034 <span class="comment">% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>0035 <span class="comment">% GNU Lesser General Public License for more details.</span>0036 <span class="comment">%</span>0037 <span class="comment">% You should have received a copy of the GNU Leser General Public License</span>0038 <span class="comment">% along with RTB. If not, see <http://www.gnu.org/licenses/>.</span>0039 0040 <a name="_sub0" href="#_subfunctions" class="code">function l = subsasgn(l, s, v)</a>0041 0042 <span class="keyword">if</span> s(1).type ~= <span class="string">'.'</span>0043 error(<span class="string">'only .field supported'</span>)0044 <span class="keyword">end</span>0045 <span class="keyword">switch</span> s(1).subs,0046 <span class="keyword">case</span> <span class="string">'alpha'</span>,0047 l.alpha = v;0048 <span class="keyword">case</span> <span class="string">'A'</span>,0049 l.A = v;0050 <span class="keyword">case</span> <span class="string">'theta'</span>,0051 l.theta = v;0052 <span class="keyword">case</span> <span class="string">'D'</span>,0053 l.D = v;0054 <span class="keyword">case</span> <span class="string">'offset'</span>,0055 l.offset = v;0056 <span class="keyword">case</span> <span class="string">'sigma'</span>,0057 <span class="keyword">if</span> ischar(v)0058 l.sigma = lower(v) == <span class="string">'p'</span>;0059 <span class="keyword">else</span>0060 l.sigma = v;0061 <span class="keyword">end</span>0062 <span class="keyword">case</span> <span class="string">'G'</span>,0063 l.G = v;0064 <span class="keyword">case</span> <span class="string">'I'</span>,0065 <span class="keyword">if</span> all(size(v) == [3 3])0066 l.I = v;0067 <span class="keyword">elseif</span> length(v) == 3,0068 l.I = diag(v);0069 <span class="keyword">elseif</span> length(v) == 6,0070 l.I = [ v(1) v(4) v(6)0071 v(4) v(2) v(5)0072 v(6) v(5) v(3)];0073 <span class="keyword">end</span>0074 <span class="keyword">case</span> <span class="string">'r'</span>,0075 l.r = v(:); <span class="comment">% a column vector</span>0076 <span class="keyword">case</span> <span class="string">'Jm'</span>,0077 l.Jm = v;0078 <span class="keyword">case</span> <span class="string">'B'</span>,0079 l.B = v;0080 <span class="keyword">case</span> <span class="string">'Tc'</span>,0081 <span class="keyword">if</span> length(v) == 1,0082 l.Tc = [v -v];0083 <span class="keyword">elseif</span> length(v) == 2,0084 l.Tc = v;0085 <span class="keyword">else</span>0086 error(<span class="string">'Coulomb friction vector can have 1 (symmetric) or 2 (asymmetric) elements only'</span>)0087 <span class="keyword">end</span>0088 <span class="keyword">case</span> <span class="string">'m'</span>,0089 l.m = v;0090 <span class="keyword">case</span> <span class="string">'qlim'</span>,0091 <span class="keyword">if</span> length(v) ~= 2,0092 error(<span class="string">'joint limit must have 2 elements'</span>);0093 <span class="keyword">end</span>0094 l.qlim = v;0095 <span class="keyword">otherwise</span>, error(<span class="string">'Unknown method'</span>)0096 <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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