www.gusucode.com > 机器人工具箱 - robot源码程序 > robot\@robot\subsref.m
%SUBSREF Reference methods on a ROBOT object % % ROBOT.n return number of links % ROBOT.link return cell array of link objects % ROBOT.gravity return gravity vector % ROBOT.base return homog xform of robot base % ROBOT.tool return homog xform of robot tool % ROBOT.qlim return joint limit matrix % ROBOT.offset return joint offset vector % ROBOT.mdh return MDH convention boolean (0=DH, 1=MDH) % % ROBOT.islimit return joint limit boolean vector % % ROBOT.name return name of robot % ROBOT.manuf return who built it % ROBOT.comment return general comment % ROBOT.config return joint configuration string % % ROBOT.plotopt return options for plot(robot) % ROBOT.lineopt return line drawing option string for links % ROBOT.shadowopt return line drawing option string for shadow % ROBOT.handle return graphics handles in object % ROBOT.q return joint angles for plot(robot) % % ROBOT.dh return legacy DH matrix % ROBOT.dyn return legacy DYN matrix % 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 v = subsref(r, s) if s(1).type ~= '.' %error('only .field supported') end % NOTE WELL: the following code can't use getfield() since % getfield() uses this, and Matlab will crash!! el = char(s(1).subs); switch el, %%%%%%%%% retrieve robot parameters case 'n', v = r.n; case 'gravity' v = r.gravity; case 'tool' v = r.tool; case 'base' v = r.base; case 'mdh', v = r.mdh; case {'link', 'links'}, if length(s) == 1, v = r.link; elseif s(2).type == '{}' j = s(2).subs; j = j{1}; if (j < 1) | (j > r.n) error('link index out of bounds') end v = r.link{j}; end case 'offset', L = r.link; v = []; for i=1:r.n, v = [v; L{i}.offset]; end case 'qlim', L = r.link; v = []; for i=1:r.n, v = [v; L{i}.qlim]; end %%%%%%%%% descriptive strings case 'name', v = r.name; case 'manuf', v = r.manuf; case 'comment', v = r.comment; case 'config', L = r.link; v = ''; for i=1:r.n, v(i) = L{i}.RP; end %%%%%%%%% joint limit test case 'islimit', L = r.link; if s(2).type ~= '()' error('expecting argument for islimit method'); end q = s(2).subs{1}; if length(q) ~= r.n, error('argument for islimit method is wrong length'); end v = []; for i=1:r.n, v = [v; L{i}.islimit(q(i))]; end %%%%%%%%% legacy DH/DYN support case 'dh', v = []; L = r.link; for i=1:r.n, v = [v; L{i}.dh]; end case 'dyn' v = []; L = r.link; for i=1:r.n, v = [v; L{i}.dyn]; end %%%%%%%%% graphics support case 'q', v = r.q; case 'plotopt', v = r.plotopt; case 'lineopt' v = r.lineopt; case 'shadowopt' v = r.shadowopt; case {'show', 'handle'} v = r.handle'; otherwise, error('Unknown method') end