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%MTIMES Multiply robot objects % % Robot objects can be multiplied r1*r2 which is mechanically equivalent % to concatenating the two robots, or mounting robot r2 on the end of robot r1. % 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 r2 = mtimes(r, l) if ~isa(r, 'robot') error('left arg must be a robot') end if isa(l, 'robot') r2 = robot(r); r2.link = [r2.link l.link]; r2.n = length(r2.link); elseif isa(l, 'link') end