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81 lines
1.9 KiB
81 lines
1.9 KiB
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% Ryan Steindl based on Robotics Toolbox for MATLAB (v6 and v9)
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%
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% Copyright (C) 1993-2011, by Peter I. Corke
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%
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% This file is part of The Robotics Toolbox for MATLAB (RTB).
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%
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% RTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% RTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with RTB. If not, see <http://www.gnu.org/licenses/>.
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%
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% http://www.petercorke.com
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function v = subsref(q, s)
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if (length (s)<2)
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if s(1).type == '.'
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% NOTE WELL: the following code can't use getfield() since
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% getfield() uses this, and Matlab will crash!!
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el = char(s(1).subs);
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switch el
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case 'd'
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v = double(q);
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case 's'
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v = q.s;
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case 'v'
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v = q.v;
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case 'T'
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v = q2tr(q);
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case 'R'
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v = q2tr(q);
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v = v(1:3,1:3);
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case 'inv'
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v = inv(q);
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case 'norm'
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v = norm(q);
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case 'unit'
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v = unit(q);
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case 'double'
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v = double(q);
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case 'plot'
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v = plot(q);
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end
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else
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error('only .field supported')
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end
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elseif (length(s) == 2 )
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if s(1).type == '.'
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% NOTE WELL: the following code can't use getfield() since
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% getfield() uses this, and Matlab will crash!!
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el = char(s(1).subs);
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args = s(2).subs;
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switch el
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case 'interp'
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v = interp(q,args{:});
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case 'scale'
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v = scale(q,args{:});
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case 'dot'
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v = dot(q,args{:});
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end
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else
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error('only .field supported')
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end
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else
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error('only .field supported')
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end
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endfunction
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