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    %% Attach Rigid Body and Joint to Rigid Body Tree
% Add a rigid body and corresponding joint to a
% rigid body tree. Each |RigidBody| object contains a |Joint| object and
% must be added to the |RigidBodyTree| using |addBody|.

%%
% Create a rigid body tree.
rbtree = robotics.RigidBodyTree;

%%
% Create a rigid body with a unique name.
body1 = robotics.RigidBody('b1');

%%
% Create a revolute joint. By default, the |RigidBody| object comes with a
% fixed joint. Replace the joint by assigning a new |Joint| object to the
% |body1.Joint| property.

jnt1 = robotics.Joint('jnt1','revolute');
body1.Joint = jnt1;

%%
% Add the rigid body to the tree. Specify the body name that you are
% attaching the rigid body to. Because this is the first body, use the base
% name of the tree.
basename = rbtree.BaseName;
addBody(rbtree,body1,basename)

%%
% Use |showdetails| on the tree to confirm the rigid body and joint were added
% properly.
showdetails(rbtree)