www.gusucode.com > Modeling Pneumatic Robot Actuators 工具箱matlab源码程序 > Modeling Pneumatic Robot Actuators/MSRA_PneumaticRobotSeries/Libraries/MultipartsLib/Extrusion_Scripts/Extr_Data_Frustum_Conical.m
function [xy_data] = Extr_Data_Frustum_Conical(cone_or, cone_th, varargin) %Extr_Data_Frustum_Conical Produce *revolution* data for a conical frustum. % [xy_data] = Extr_Data_Frustum_Conical(cone_or, cone_th, <cone_h>, <cone_ir>) % This function returns x-y data for a conical frustrum. % You can specify: % Cone outer radius (m) cone_or % Cone theta (deg) cone_th % (optional) Cone height (m) cone_h % (optional) Cone inner radius (m) cone_ir % % To see a plot showing parameter values, enter the name % of the function with no arguments % >> Extr_Data_Frustum_Conical % % To see a plot created with your parameter values, % add 'plot' as the final argument % >> Extr_Data_Frustum_Conical(5,60,4,4,'plot') % Copyright 2017-2018 The MathWorks, Inc. % Default data to show diagram showplot = 'n'; if (nargin == 0) cone_or = 5; cone_th = 60; cone_h = 4; cone_ir = 4; showplot = 'plot'; elseif (nargin == 2) cone_h = cone_or*tand(cone_th); cone_ir = 0; elseif (nargin == 3) cone_ir = 0; if ischar(varargin{1}) % PLOT REQUESTED showplot = varargin{1}; cone_h = cone_or*tand(cone_th); else cone_h = varargin{1}; % Ad SPECIFIED end elseif (nargin == 4) cone_h = varargin{1}; % Ad SPECIFIED if ischar(varargin{2}) % PLOT REQUESTED showplot = varargin{2}; cone_ir = 0; else cone_ir = varargin{2}; % Ad SPECIFIED end elseif (nargin == 5) cone_h = varargin{1}; % Ad SPECIFIED cone_ir = varargin{2}; % Ad SPECIFIED showplot = varargin{3}; end % Generate extrusion data h_out = min(cone_h,cone_or*tand(cone_th)); x_out = max(0,cone_or-h_out/tand(cone_th)); h_in = min(h_out,cone_ir*tand(cone_th)); x_in = max(0,cone_ir-h_in/tand(cone_th)); xy_data = [... cone_ir 0; cone_or 0; x_out h_out]; % Logic to avoid duplicate coordinates if (x_out ~= 0) xy_data = [xy_data; x_in h_out]; end if ((cone_ir ~= 0) && (h_in ~= h_out)) xy_data = [xy_data; x_in h_in]; end % Plot diagram to show parameters and extrusion if (nargin == 0 || strcmpi(showplot,'plot')) % Figure name figString = ['h1_' mfilename]; % Only create a figure if no figure exists figExist = 0; fig_hExist = evalin('base',['exist(''' figString ''')']); if (fig_hExist) figExist = evalin('base',['ishandle(' figString ') && strcmp(get(' figString ', ''type''), ''figure'')']); end if ~figExist fig_h = figure('Name',figString); assignin('base',figString,fig_h); else fig_h = evalin('base',figString); end figure(fig_h) clf(fig_h) % Get max axis dimension % maxd = max(box_ox,box_oy); % Plot data patch(xy_data(:,1),xy_data(:,2),[1 1 1]*0.90,'EdgeColor','none'); hold on plot(xy_data(:,1),xy_data(:,2),'-','Marker','o','MarkerSize',4,'LineWidth',2); % Mirror data to show revolution patch(-xy_data(:,1),xy_data(:,2),[1 1 1]*0.90,'EdgeColor','none'); hold on plot(-xy_data(:,1),xy_data(:,2),'-','Marker','o','MarkerSize',4,'LineWidth',2); axis('equal'); % Show parameters hold on plot([0 cone_or],[0 0],'r-d','MarkerFaceColor','r'); text(0.25*cone_or,0.025*h_out,'{\color{red}cone\_or}','HorizontalAlignment','center'); if(cone_ir>0) plot([0 -cone_ir],[0 0],'g-d','MarkerFaceColor','g'); text(-0.25*cone_ir,0.025*h_out,'{\color{green}cone\_ir}','HorizontalAlignment','center'); end plot([0 0],[0 cone_h],'b-d','MarkerFaceColor','b'); text(0, 0.5*cone_h,'{\color{blue}cone\_h}'); arc1_r = 0.6*cone_or; arc1 = [(0:1:cone_th)]'*pi/180; plot(-cos(arc1)*arc1_r+cone_or,sin(arc1)*arc1_r,'k-'); plot(-cos(arc1(1))*arc1_r+cone_or,sin(arc1(1))*arc1_r,'kd','MarkerFaceColor','k'); plot(-cos(arc1(end))*arc1_r+cone_or,sin(arc1(end))*arc1_r,'kd','MarkerFaceColor','k'); text(-cos(cone_th/2*pi/180)*arc1_r*1.1+cone_or,sin(cone_th/2*pi/180)*arc1_r*1.1,'cone\_theta'); title('[xy\_data] = Extr\_Data\_Frustum\_Conical(cone\_or, cone\_th, <cone\_h, cone\_ir>);'); hold off box on clear xy_data end