%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Offs(robot, robtarget, deltaX, deltaY, deltaZ, gripper, Wobj) Compute a point displaced (deltaX, deltaY, deltaZ) m from the specified point robtarget. The displacement is performed in the Wobj reference system %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0001 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0002 % Offs(robot, robtarget, deltaX, deltaY, deltaZ, gripper, Wobj) 0003 % Compute a point displaced (deltaX, deltaY, deltaZ) m from the specified 0004 % point robtarget. The displacement is performed in the Wobj reference 0005 % system 0006 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0007 0008 % Copyright (C) 2012, by Arturo Gil Aparicio 0009 % 0010 % This file is part of ARTE (A Robotics Toolbox for Education). 0011 % 0012 % ARTE is free software: you can redistribute it and/or modify 0013 % it under the terms of the GNU Lesser General Public License as published by 0014 % the Free Software Foundation, either version 3 of the License, or 0015 % (at your option) any later version. 0016 % 0017 % ARTE is distributed in the hope that it will be useful, 0018 % but WITHOUT ANY WARRANTY; without even the implied warranty of 0019 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 0020 % GNU Lesser General Public License for more details. 0021 % 0022 % You should have received a copy of the GNU Leser General Public License 0023 % along with ARTE. If not, see <http://www.gnu.org/licenses/>. 0024 function robtarget = Offs(robtarget, deltaX, deltaY, deltaZ) 0025 0026 global configuration 0027 0028 fprintf('\nCall to Offs'); 0029 0030 robtarget(1)=robtarget(1)+deltaX; 0031 robtarget(2)=robtarget(2)+deltaY; 0032 robtarget(3)=robtarget(3)+deltaZ; 0033 0034