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35 lines
1.2 KiB
35 lines
1.2 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 = islimit(r,q)
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%SerialLink.islimit Joint limit test
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%
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% V = R.ISLIMIT(Q) is a vector of boolean values, one per joint,
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% false (0) if Q(i) is within the joint limits, else true (1).
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L = r.links;
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if length(q) ~= r.n
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error('argument for islimit method is wrong length');
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end
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v = [];
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for i=1:r.n
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v = [v; r.links(i).islimit(q(i))];
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end
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end
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