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74 lines
2.8 KiB
74 lines
2.8 KiB
% 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 s = char(links, from_robot)
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%Link.char String representation of parameters
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%
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% s = L.char() is a string showing link parameters in compact single line format.
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% If L is a vector of Link objects return a string with one line per Link.
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%
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% See also Link.display.
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% display in the order theta d a alpha
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if nargin < 2
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from_robot = false;
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end
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s = '';
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for j=1:length(links)
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l = links(j);
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if from_robot
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if l.sigma == 1
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% prismatic joint
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js = sprintf('|%3d|%11.4g|%11s|%11.4g|%11.4g|', ...
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j, l.theta, sprintf('q%d', j), l.a, l.alpha);
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else
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js = sprintf('|%3d|%11s|%11.4g|%11.4g|%11.4g|', ...
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j, sprintf('q%d', j), l.d, l.a, l.alpha);
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end
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else
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if l.sigma == 0,
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conv = 'R';
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else
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conv = 'P';
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end
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if l.mdh == 0
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conv = [conv ',stdDH'];
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else
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conv = [conv ',modDH'];
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end
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if length(links) == 1
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qname = 'q';
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else
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qname = sprintf('q%d', j);
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end
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if l.sigma == 1
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% prismatic joint
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js = sprintf(' theta=%.4g, d=%s, a=%.4g, alpha=%.4g (%s)', ...
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l.theta, qname, l.a, l.alpha, conv);
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else
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js = sprintf(' theta=%s, d=%.4g, a=%.4g, alpha=%.4g (%s)', ...
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qname, l.d, l.a, l.alpha, conv);
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end
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end
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s = strvcat(s, js);
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end
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end % char()
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