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ROBOT=READ_GRAPHICS(ROBOT)
Reads the 3D graphics files associated to the robot.
Each robot has N+1 graphics files stored at its directory: robot/abb/IRB140
link0.stl, link1.stl, ..., link6.stl, where link0.stl defines the robot
base, link1.stl, the first link connecting the base and link 2 etc.
Each graphics file is defined in STL (Standard Tessellation Language)
format, supported by many 3D software packages:
http://en.wikipedia.org/wiki/STL_%28file_format%29
Prior to the call of READ_GRAPHICS, the variable
robot.graphical.has_graphics has to be set to one.
ROBOT=READ_GRAPHICS(ROBOT), stores the current robot Faces and vertices
of each file in the variables:
robot.graphical.link{1}.f --> faces robot base,
robot.graphical.link{1}.v --> vertices robot base,
robot.graphical.link{2}.f --> faces link 1,
robot.graphical.link{2}.v --> vertices link 1...
the vector f defines the position of a set of points that represent each
robot link in its current DH reference system. The units of f are
meters.
READ_GRAPHICS calls the function STL_READ, in charge of reading each of
the files associated to the robot.
See also DRAW_LINK, DRAW_PATCH, STL_READ.
Author: Arturo Gil. Universidad Miguel Hernández de Elche.
email: arturo.gil@umh.es date: 05/02/2012
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%0001 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0002 % ROBOT=READ_GRAPHICS(ROBOT) 0003 % Reads the 3D graphics files associated to the robot. 0004 % Each robot has N+1 graphics files stored at its directory: robot/abb/IRB140 0005 % link0.stl, link1.stl, ..., link6.stl, where link0.stl defines the robot 0006 % base, link1.stl, the first link connecting the base and link 2 etc. 0007 % Each graphics file is defined in STL (Standard Tessellation Language) 0008 % format, supported by many 3D software packages: 0009 % http://en.wikipedia.org/wiki/STL_%28file_format%29 0010 % 0011 % Prior to the call of READ_GRAPHICS, the variable 0012 % robot.graphical.has_graphics has to be set to one. 0013 % 0014 % ROBOT=READ_GRAPHICS(ROBOT), stores the current robot Faces and vertices 0015 % of each file in the variables: 0016 % 0017 % robot.graphical.link{1}.f --> faces robot base, 0018 % robot.graphical.link{1}.v --> vertices robot base, 0019 % robot.graphical.link{2}.f --> faces link 1, 0020 % robot.graphical.link{2}.v --> vertices link 1... 0021 % 0022 % the vector f defines the position of a set of points that represent each 0023 % robot link in its current DH reference system. The units of f are 0024 % meters. 0025 % 0026 % READ_GRAPHICS calls the function STL_READ, in charge of reading each of 0027 % the files associated to the robot. 0028 % 0029 % See also DRAW_LINK, DRAW_PATCH, STL_READ. 0030 % 0031 % Author: Arturo Gil. Universidad Miguel Hernández de Elche. 0032 % email: arturo.gil@umh.es date: 05/02/2012 0033 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0034 0035 % Copyright (C) 2012, by Arturo Gil Aparicio 0036 % 0037 % This file is part of ARTE (A Robotics Toolbox for Education). 0038 % 0039 % ARTE is free software: you can redistribute it and/or modify 0040 % it under the terms of the GNU Lesser General Public License as published by 0041 % the Free Software Foundation, either version 3 of the License, or 0042 % (at your option) any later version. 0043 % 0044 % ARTE is distributed in the hope that it will be useful, 0045 % but WITHOUT ANY WARRANTY; without even the implied warranty of 0046 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 0047 % GNU Lesser General Public License for more details. 0048 % 0049 % You should have received a copy of the GNU Leser General Public License 0050 % along with ARTE. If not, see <http://www.gnu.org/licenses/>. 0051 function robot=read_graphics(robot) 0052 0053 %degrees of freedom 0054 n=robot.DOF; 0055 0056 if robot.graphical.has_graphics 0057 0058 full_name = [robot.path '/link0.stl']; 0059 0060 %check whether there exist graphics files for the robot 0061 if exist(full_name, 'file')~=2 0062 disp('NO GRAPHICS FILE FOUND, not reading graphics'); 0063 disp('Please, remember to place link0.stl, link1.stl at each robot directory'); 0064 disp('Check the following directory: ') 0065 robot.path 0066 robot.graphical.has_graphics=0 0067 return; 0068 end 0069 pwd 0070 for i=0:n, 0071 link_name=sprintf('/link%d.stl', i); 0072 fprintf('\nReading link %d\n %s\n', i, [robot.path link_name]); 0073 %load link 0, base 0074 [fout, vout, cout] = stl_read([robot.path link_name]); 0075 robot.graphical.link{i+1}.f = fout; 0076 robot.graphical.link{i+1}.v = vout; 0077 %robot.graphical.link{i+1}.c = cout+robot.graphical.color; 0078 end 0079 %load a default color if not specified 0080 if robot.graphical.color(1) > 1.0 0081 robot.graphical.color = [204 51 0]./255; 0082 disp('NO VALID COLOR FOUND, PLEASE SPECIFY robot.graphical.color as [0.5 0.6 0.7]'); 0083 end 0084 end