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%CHAR String representation of robot parametesrs % 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 s = char(r) % build a configuration string rp = []; for i = 1:r.n, rp = [rp r.link{i}.RP]; end s = sprintf('%s (%d axis, %s)', r.name, r.n, rp); if ~isempty(r.manuf) s = strcat(s, [' [' r.manuf ']']); end if ~isempty(r.comment) s = strcat(s, [' <' r.comment '>']); end s = strcat(s, sprintf('\n\t\tgrav = [%.2f %.2f %.2f]\n', r.gravity)); if getfield(r, 'mdh') == 0, s = strcat(s, sprintf('\t\tstandard D&H parameters\n')); else s = strcat(s, sprintf('\t\tmodified D&H parameters\n')); end s = strcat(s, sprintf('\n\n alpha\t\t A\t\t theta\t\t D\t\tR/P\n')); for i = 1:r.n, s = strcat(s, sprintf('\n%s', char(r.link{i}))); end