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%DISPLAY Display the value of a LINK object % % This method is invoked to display a link object by the Matlab interpreter, % and gives a terse single line description of link kinematics. % % If invoked with a second argument (value ignored) it will display a long % form description which includes all defined inertial parameters. % Copyright (C) 1999-2008, by Peter I. Corke % % This file is part of The Robotics Toolbox for Matlab (RTB). % % RTB is free software: you can redistribute it and/or modify % it under the terms of the GNU Lesser General Public License as published by % the Free Software Foundation, either version 3 of the License, or % (at your option) any later version. % % RTB is distributed in the hope that it will be useful, % but WITHOUT ANY WARRANTY; without even the implied warranty of % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the % GNU Lesser General Public License for more details. % % You should have received a copy of the GNU Leser General Public License % along with RTB. If not, see <http://www.gnu.org/licenses/>. function display(l, full) disp(' '); disp([inputname(1), ' = ']) disp(' '); disp([' ' char(l)]) disp(' '); if nargin > 1, if ~isempty(l.m) fprintf(' m = %f\n', l.m) end if ~isempty(l.r) fprintf(' r = %f %f %f\n', l.r); end if ~isempty(l.I) fprintf(' I = | %f %f %f |\n', l.I(1,:)); fprintf(' | %f %f %f |\n', l.I(2,:)); fprintf(' | %f %f %f |\n', l.I(3,:)); end if ~isempty(l.Jm) fprintf(' Jm = %f\n', l.Jm); end if ~isempty(l.B) fprintf(' B = %f\n', l.B); end if ~isempty(l.Tc) fprintf(' Tc = %f(+) %f(-)\n', l.Tc(1), l.Tc(2)); end if ~isempty(l.G) fprintf(' G = %f\n', l.G); end if ~isempty(l.qlim) fprintf(' qlim = %f to %f\n', l.qlim(1), l.qlim(2)); end end