www.gusucode.com > 机器人工具箱 - robot源码程序 > robot\@link\nofriction.m
%NOFRICTION Return link object with zero friction % % LINK = NOFRICTION(LINK) % LINK = NOFRICTION(LINK, 'all') % % Return the link object with Coulomb or all friction terms set to zero. % % See also: ROBOT/NOFRICTION % 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 l2 = nofriction(l, only) l2 = link(l); if (nargin == 2) & strcmpi(only(1:3), 'all'), l2.B = 0; end l2.Tc = [0 0];