%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INIT_SIM_VARIABLES initializes the variables needed
during the simulations
See also LOAD_ROBOT
Author: Arturo Gil. Universidad Miguel Hernández de Elche. email:
arturo.gil@umh.es date: 02/01/2012
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%0001 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0002 % INIT_SIM_VARIABLES initializes the variables needed 0003 % during the simulations 0004 % 0005 % See also LOAD_ROBOT 0006 % 0007 % Author: Arturo Gil. Universidad Miguel Hernández de Elche. email: 0008 % arturo.gil@umh.es date: 02/01/2012 0009 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0010 0011 % Copyright (C) 2012, by Arturo Gil Aparicio 0012 % 0013 % This file is part of ARTE (A Robotics Toolbox for Education). 0014 % 0015 % ARTE is free software: you can redistribute it and/or modify 0016 % it under the terms of the GNU Lesser General Public License as published by 0017 % the Free Software Foundation, either version 3 of the License, or 0018 % (at your option) any later version. 0019 % 0020 % ARTE is distributed in the hope that it will be useful, 0021 % but WITHOUT ANY WARRANTY; without even the implied warranty of 0022 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 0023 % GNU Lesser General Public License for more details. 0024 % 0025 % You should have received a copy of the GNU Leser General Public License 0026 % along with ARTE. If not, see <http://www.gnu.org/licenses/>. 0027 function robot = init_sim_variables(robot) 0028 0029 robot.debug=0; 0030 0031 %POSITION, velocity and acceleration 0032 robot.q= zeros(robot.DOF, 1); 0033 robot.qd=zeros(robot.DOF, 1); 0034 robot.qdd=zeros(robot.DOF, 1); 0035 robot.time = []; 0036 0037 robot.q_vector=[]; 0038 robot.qd_vector=[]; 0039 robot.qdd_vector=[]; 0040 0041 robot.last_target=directkinematic(robot, robot.q); 0042 robot.last_zone_data = 'fine'; 0043 0044 robot.tool0=[]; 0045 robot.tool0=[1,[[0,0,0]/1000,[1,0,0,0]],[0.1,[0,0,0],[1,0,0,0],0,0,0]]; 0046 robot.wobj0=[]; 0047 0048 %This is used of end tools 0049 % for example, for a gripper, tool_activated grabs the piece 0050 robot.tool_activated=0; 0051 0052 %save robot path 0053 robot.path = pwd;