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  1. function l = draw_links(link_set, link_colors, ax)
  2.     % Draw a set of lines for a link structure into a specified axis
  3.     %
  4.     % Inputs:
  5.     % link_set: A 1xn cell array, each entry of which is a matrix whose 
  6.     %           columns are the endpoints of the lines describing one link 
  7.     %           of the system.
  8.     % link_colors: 1x3 cell array. Each entry can be either a standard 
  9.     %              matlab color string (e.g., 'k' or 'r') or a 1x3 vector 
  10.     %              of the RGB values for the color (range from 0 to 1).
  11.     % ax: The handle to an axis in which to plot the links.
  12.     %
  13.     % Output:
  14.     % l: A cell array of the same size as link_set, in which each entry is 
  15.     %    a handle to a line structure for that link.
  16.  
  17.     % Start by creating an empty cell array of the same size as link_set
  18.     l = cell(size(link_set));
  19.  
  20.     % Loop through each link in the link_set
  21.     for i = 1:length(link_set)
  22.         % Get the endpoints of the current link
  23.         endpoints = link_set{i};
  24.  
  25.         % Draw the link as a line between the endpoints
  26.         % Assuming endpoints are structured as [x_start, x_end; y_start, y_end]
  27.         line_handle = plot(ax, endpoints(1, :), endpoints(2, :), 'LineWidth', 2, 'Color', link_colors{i});
  28.  
  29.         % Store the line handle in the cell array
  30.         l{i} = line_handle;
  31.  
  32.         % Draw circles at the endpoints
  33.         hold(ax, 'on'); % Hold the axis to overlay the circles
  34.         plot(ax, endpoints(1, 1), endpoints(2, 1), 'o', 'MarkerSize', 8, 'MarkerFaceColor', link_colors{i}); % Start point
  35.         plot(ax, endpoints(1, 2), endpoints(2, 2), 'o', 'MarkerSize', 8, 'MarkerFaceColor', link_colors{i}); % End point
  36.     end
  37.  
  38.     hold(ax, 'off'); % Release the hold on the axis
  39. end
  40. % Define link vectors and joint angles
  41. link_vectors = {[1; 0], [1; 0]};
  42. joint_angles = [pi/4; -pi/2];
  43.  
  44. % Create link set
  45. link_set = planar_robot_arm_links(link_vectors, joint_angles);
  46.  
  47. % Create axes
  48. ax = create_axes();
  49.  
  50. % Define link colors
  51. link_colors = {'g', [0.5 0.5 0.5]}; % Green and Gray
  52.  
  53. % Draw links
  54. l = draw_links(link_set, link_colors, ax);
  55.  
Success #stdin #stdout #stderr 0.13s 48796KB
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error: 'planar_robot_arm_links' undefined near line 45 column 12
error: called from
    /home/Vua53M/prog.octave at line 45 column 10
https://ideone.com/OqYKtd
language:
Octave (octave 4.4.1)
created:
5 days ago
visibility:
public

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