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56 lines
1.8 KiB
56 lines
1.8 KiB
% robot objects can be multiplied r1*r2 which is mechanically equivalent
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% to mounting robot r2 on the end of robot r1.
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%
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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 r2 = mtimes(r, l)
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%SerialLink.mtimes Join robots
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%
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% R = R1 * R2 is a robot object that is equivalent to mounting robot R2
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% on the end of robot R1.
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if isa(l, 'SerialLink')
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r2 = SerialLink(r);
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x = r2.links;
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for i = 1:length(x)
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new_links(i) = Link(x(i));
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end
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y = l.links;
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for i = 1:length(y)
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new_links(i + length(x)) = Link(y(i));
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end
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r2.links = new_links;
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r2.base = r.base;
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r2.n = length(r2.links);
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elseif isa(l, 'Link')
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r2 = SerialLink(r);
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x = r2.links;
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for i = 1:length(x)
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new_links(i) = Link(x(i));
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end
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for i = 1:length(l)
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new_links(i + length(x)) = Link(l(i));
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end
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r2.links = new_links;
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r2.n = length(r2.links);
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end
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end
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