资源简介
ROS机器人编程实践_源码
代码片段和文件信息
close all;
% render arm in both poses
function draw_arm(js)
% fprintf(“draw_arm\n“);
% draw the base of the robot
bulx = -0.5;
buly = 0.2;
blrx = 0;
blry = -1.5;
bw = 2;
line([bulx blrx] [buly buly]‘linewidth‘bw);
line([blrx blrx] [buly blry]‘linewidth‘bw);
line([blrx bulx] [blry blry]‘linewidth‘bw);
line([bulx bulx] [buly blry]‘linewidth‘bw);
fs = 20;
%text(bulx+0.2 buly-0.2 “cleaner-bot“‘fontsize‘fs);
wulx = 1.2;
wuly = 1.3;
wlrx = 1.3;
wlry = -1.1;
ww = 3;
line([wulx wlrx] [wuly wuly]‘linestyle‘‘--‘‘linewidth‘ww);
line([wlrx wlrx] [wuly wlry]‘linestyle‘‘--‘‘linewidth‘bw);
line([wlrx wulx] [wlry wlry]‘linestyle‘‘--‘‘linewidth‘bw);
line([wulx wulx] [wuly wlry]‘linestyle‘‘--‘‘linewidth‘bw);
l0 = 1.0;
aw = 10; % arm width
elbow_xy = [l0 * cos(js(1)) l0 * sin(js(1))];
line([0elbow_xy(1)][0elbow_xy(2)]‘linewidth‘aw);
l1 = 0.7;
wrist_xy = [elbow_xy(1) + l1 * cos(js(1)+js(2))
elbow_xy(2) + l1 * sin(js(1)+js(2))];
line([elbow_xy(1)wrist_xy(1)]
[elbow_xy(2)wrist_xy(2)]‘linewidth‘aw);
endfunction
js_start = [ 0.9 -0.3];
js_end = [-1 0.7];
figure;
for t=0:0.10:1
draw_arm(js_start * (1-t) + js_end * t);
end
axis equal;
属性 大小 日期 时间 名称
----------- --------- ---------- ----- ----
....... 1281 2016-01-29 02:29 ROS机器人编程实践_源码\chessbot\arm_2d.m
....... 34037 2016-01-29 02:29 ROS机器人编程实践_源码\chessbot\arm_2d.png
....... 8 2016-01-29 02:29 ROS机器人编程实践_源码\chessbot\arm_2d_cartesian.aux
....... 16125 2016-01-29 02:29 ROS机器人编程实践_源码\chessbot\arm_2d_cartesian.log
....... 9541 2016-01-29 02:29 ROS机器人编程实践_源码\chessbot\arm_2d_cartesian.pdf
....... 5507 2016-01-29 02:29 ROS机器人编程实践_源码\chessbot\arm_2d_cartesian.png
....... 388 2016-01-29 02:29 ROS机器人编程实践_源码\chessbot\arm_2d_cartesian.tex
....... 1101 2016-01-29 02:29 ROS机器人编程实践_源码\chessbot\arm_parts.m
....... 3271 2016-01-29 02:29 ROS机器人编程实践_源码\chessbot\arm_parts.png
....... 747 2016-01-29 02:29 ROS机器人编程实践_源码\chessbot\chessboard.sdf
....... 998 2016-01-29 02:29 ROS机器人编程实践_源码\chessbot\chess_piece.sdf
....... 4671 2016-01-29 02:29 ROS机器人编程实践_源码\chessbot\CMakeLists.txt
....... 295 2016-01-29 02:29 ROS机器人编程实践_源码\chessbot\Makefile
....... 390 2016-01-29 02:29 ROS机器人编程实践_源码\chessbot\morgan_defeated.pgn
....... 419 2016-01-29 02:29 ROS机器人编程实践_源码\chessbot\morgan_defeated_lan.pgn
....... 447 2016-01-29 02:29 ROS机器人编程实践_源码\chessbot\package.xm
....... 131368 2016-01-29 02:29 ROS机器人编程实践_源码\chessbot\pinch.jpg
....... 130957 2016-01-29 02:29 ROS机器人编程实践_源码\chessbot\pre-pinch.jpg
....... 163 2016-01-29 02:29 ROS机器人编程实践_源码\chessbot\r2.bash
文件 1269 2016-01-29 02:29 ROS机器人编程实践_源码\chessbot\r2_chessboard_cli.py
....... 263595 2016-01-29 02:29 ROS机器人编程实践_源码\chessbot\r2_chessmaster.jpg
....... 134196 2016-01-29 02:29 ROS机器人编程实践_源码\chessbot\r2_chessmaster_pieces_knocked_over.jpg
文件 2491 2016-01-29 02:29 ROS机器人编程实践_源码\chessbot\r2_chess_pgn.py
文件 1071 2016-01-29 02:29 ROS机器人编程实践_源码\chessbot\r2_cli.py
....... 269326 2016-01-29 02:29 ROS机器人编程实践_源码\chessbot\r2_gazebo.png
文件 1138 2016-01-29 02:29 ROS机器人编程实践_源码\chessbot\r2_hand.py
....... 138205 2016-01-29 02:29 ROS机器人编程实践_源码\chessbot\r2_looking_at_chessboard.jpg
文件 981 2016-01-29 02:29 ROS机器人编程实践_源码\chessbot\r2_mime.py
....... 175634 2016-01-29 02:29 ROS机器人编程实践_源码\chessbot\r2_mime_screenshot.jpg
....... 638975 2016-01-29 02:29 ROS机器人编程实践_源码\chessbot\robonaut-2-task-board.jpg
............此处省略243个文件信息
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