Path: AerospaceUtils/ComponentModels
% Get vertices and faces for a Canadarm3, or animate it
Type Canadarm3 for a demo which rotates the arm around every hinge. This
is not called in a loop, but rather a set of angles can be passed in via
"x" in one call.
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Form:
DrawCanadarm3; % demo
d = DrawCanadarm3( 'initialize' ) % generate data
m = DrawCanadarm3( 'update', x, d ) % animate
[v,f] = DrawCanadarm3( 'vectors', x, d ) % return patch data
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Inputs
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action (1,:) 'initialize', 'update' or 'vectors'
x (7,:) Joint angles
d (.) Data structure (defaults)
.a: [1 2 3 2 3 1]
.box: [1×1 struct]
.v: [8×3 double]
.f: [12×3 double]
.link: [1×6 struct]
.r (3,1) Position (TO/FROM)
.b (3,3) Rotation (TO/FROM)
.v (:,3) Vertices
.f (:,3) Faces
.n: 6
.r: [-15 15]
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Outputs
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m (1,:) Movie frames or vectors
f (1,:) Faces
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Common: ComponentModels/Box Common: ComponentModels/Frustrum Common: Graphics/NewFig Common: Graphics/XLabelS Common: Graphics/YLabelS Common: Graphics/ZLabelS
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