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52 lines
1.6 KiB
52 lines
1.6 KiB
%Revolute Robot manipulator Revolute link class
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%
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% A subclass of the Link class: holds all information related to a robot
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% link such as kinematics parameters, rigid-body inertial parameters, motor
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% and transmission parameters.
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%
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% Notes::
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% - This is reference class object
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% - Link class objects can be used in vectors and arrays
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%
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% References::
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% - Robotics, Vision & Control, Chap 7
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% P. Corke, Springer 2011.
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%
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% See also Link, Prismatic, SerialLink.
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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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classdef Revolute < Link
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methods
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function L = Revolute(varargin)
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L = L@Link(varargin{:});
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if nargin == 0
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L.theta = [];
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end
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L.sigma = 0;
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if isempty(L.d)
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L.d = 0;
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end
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if ~isempty(L.theta)
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error('theta cannot be specified for a prismatic link');
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end
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end
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end
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end
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