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72 lines
1.7 KiB
72 lines
1.7 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 r = subsasgn(r, s, v)
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if s(1).type ~= '.'
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error('only .field supported')
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end
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switch s(1).subs,
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case 'links'
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r.links = v;
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case 'lineopt',
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r.lineopt = v;
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case 'shadowopt',
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r.shadowopt = v;
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case 'offset',
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L = r.links;
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for i=1:r.n,
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L(i).offset = v(i);
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end
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case 'qlim',
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if numrows(v) ~= r.n,
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error('insufficient rows in joint limit matrix');
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end
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L = r.links;
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for i=1:r.n,
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L(i).qlim = v(i,:);
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end
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case 'q',
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r.q = v;
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case 'handle',
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r.handle = v;
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case 'plotopt',
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r.plotopt = v;
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case 'gravity',
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r.gravity = v;
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case 'tool',
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if ~ishomog(v)
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error('base must be a homogeneous transform');
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end
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r.tool = v;
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case 'base',
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if ~ishomog(v)
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error('base must be a homogeneous transform');
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end
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r.base = v;
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case 'name',
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r.name = v;
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case 'manufacturer',
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r.manufacturer = v;
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case 'comment',
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r.comment = v;
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otherwise, error('Unknown method in subsasgn')
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end
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