load_robot

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   LOAD_ROBOT Loads a data structure corresponding to the specified robot.


     robot = LOAD_ROBOT(MANUFACTURER, VERSION) returns a robot data
     structure of the specified robot.  Each robot parameters' are stored in
     the directory named robots/manufacturer/version. For example:  

   Example: 
   robot =  load_robot('ABB', 'IRB140')

   gets the available data for the ABB IRB140 robotic arm whose
   parameters are stored in the directory robots/ABB/IRB140
   
   robot = LOAD_ROBOT(PATH) specifies a relative path to the robots
   directory. For example:
   robot =  load_robot('ABB/IRB140')

   robot = LOAD_ROBOT() with no arguments opens a dialog box to select a
   robot's parameters file.


   Execute
   SUPPORTED_ROBOTS to see a list of all supported robots.

   The robot data structure consists of the following fields:

    See also SUPPORTED_ROBOTS.

   Author: Arturo Gil. Universidad Miguel Hern�ndez de Elche. email:
   arturo.gil@umh.es date:   02/01/2012
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

0001 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0002 %   LOAD_ROBOT Loads a data structure corresponding to the specified robot.
0003 %
0004 %
0005 %     robot = LOAD_ROBOT(MANUFACTURER, VERSION) returns a robot data
0006 %     structure of the specified robot.  Each robot parameters' are stored in
0007 %     the directory named robots/manufacturer/version. For example:
0008 %
0009 %   Example:
0010 %   robot =  load_robot('ABB', 'IRB140')
0011 %
0012 %   gets the available data for the ABB IRB140 robotic arm whose
0013 %   parameters are stored in the directory robots/ABB/IRB140
0014 %
0015 %   robot = LOAD_ROBOT(PATH) specifies a relative path to the robots
0016 %   directory. For example:
0017 %   robot =  load_robot('ABB/IRB140')
0018 %
0019 %   robot = LOAD_ROBOT() with no arguments opens a dialog box to select a
0020 %   robot's parameters file.
0021 %
0022 %
0023 %   Execute
0024 %   SUPPORTED_ROBOTS to see a list of all supported robots.
0025 %
0026 %   The robot data structure consists of the following fields:
0027 %
0028 %    See also SUPPORTED_ROBOTS.
0029 %
0030 %   Author: Arturo Gil. Universidad Miguel Hern�ndez de Elche. email:
0031 %   arturo.gil@umh.es date:   02/01/2012
0032 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0033 
0034 % Copyright (C) 2012, by Arturo Gil Aparicio
0035 %
0036 % This file is part of ARTE (A Robotics Toolbox for Education).
0037 %
0038 % ARTE is free software: you can redistribute it and/or modify
0039 % it under the terms of the GNU Lesser General Public License as published by
0040 % the Free Software Foundation, either version 3 of the License, or
0041 % (at your option) any later version.
0042 %
0043 % ARTE is distributed in the hope that it will be useful,
0044 % but WITHOUT ANY WARRANTY; without even the implied warranty of
0045 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
0046 % GNU Lesser General Public License for more details.
0047 %
0048 % You should have received a copy of the GNU Leser General Public License
0049 % along with ARTE.  If not, see <http://www.gnu.org/licenses/>.
0050 %function robot = load_robot(manufacturer, version)
0051 
0052 function robot = load_robot(varargin)
0053 
0054 global configuration %robot
0055 
0056 %process variable number of arguments
0057 %if the function is called with no arguments then a dialog
0058 %box is used to retrieve the absolute path of the parameters.m file.
0059 if nargin==0
0060    [FileName,PathName,FilterIndex] = uigetfile({'*.m','Parameter-files (*.m)'},'Pick a robot parameters.m file', 'MultiSelect', 'off');
0061    full_name=[PathName '/' FileName];
0062    cd(PathName);
0063 elseif nargin==1 % the relative path is expressed in a single argument%load base libpath
0064     cd(configuration.libpath);
0065     % go to the directory where the robot is stored
0066     temp_path = [ configuration.libpath '/robots/' varargin{1}];
0067     cd(temp_path);
0068 
0069     %make a command to evaluate the parameter.m file at this directory
0070     full_name = [temp_path '/parameters.m'];
0071     
0072 elseif nargin==2 % the relative path is expressed in the 'manufacturer', 'version' style
0073     manufacturer = varargin{1};
0074     version = varargin{2};
0075     %load base libpath
0076     cd(configuration.libpath);
0077     % go to the directory where the robot is stored
0078     temp_path = [ configuration.libpath '/robots/' manufacturer '/' version];
0079     cd(temp_path);
0080 
0081     %make a command to evaluate the parameter.m file at this directory
0082     full_name = [temp_path '/parameters.m'];
0083 end
0084 
0085 %initialize robot data structure
0086 %robot=[];
0087 
0088 
0089 
0090 %Eval parameters file for the selected robot
0091 %eval(command);
0092 %check whether the parameters.m file exists at the required location
0093 if exist(full_name,'file')==2
0094     robot=eval('parameters');
0095     
0096     %now draw robot
0097     drawrobot3d(robot, zeros(1,robot.DOF));
0098     %default view
0099     axis(robot.axis);
0100 else %if there's no parameters.m file
0101     fprintf('ERROR: No valid parameters.m file found. Please check the following directory')
0102     full_name
0103 end
0104 
0105 
0106 
0107 
0108