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Add mdh option plot3d #110

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Add mdh option plot3d #110

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6cc3ec5
Update plot3d.m
zlacey1234 Feb 1, 2022
4c55328
Update animate.m
zlacey1234 Mar 5, 2022
68af1ed
Test
Sep 22, 2022
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6 changes: 5 additions & 1 deletion @SerialLink/animate.m
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Expand Up @@ -69,7 +69,11 @@ function animate(robot, qq)
end
end
T = T * links(L).A(q(L));
set(h.link(L), 'Matrix', T.T);
if isempty(robot.faces)
set(h.link(L), 'Matrix', T.T);
else
set(h.link(L+1), 'Matrix', T.T);
end
vert = [vert; T.t'];
end
% update the transform for link N+1 (the tool)
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4 changes: 1 addition & 3 deletions @SerialLink/plot3d.m
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Expand Up @@ -102,9 +102,7 @@

function plot3d(robot, q, varargin)


assert( ~robot.mdh, 'RTB:plot3d:badmodel', '3D models are defined for standard, not modified, DH parameters');


opt = plot_options(robot, varargin);


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1 change: 1 addition & 0 deletions AstarPO.m
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Expand Up @@ -5,6 +5,7 @@
% navigation algorithm for multiobjective optimization (MOO) - i.e.
% optimizes over several objectives/criteria.
%

% Methods::
% plan Compute the cost map given a goal and map
% path Compute a path to the goal
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