From 6cc3ec5bdc9c09818ec8fbc5c0f428721bf0133d Mon Sep 17 00:00:00 2001 From: Zachary Lacey Date: Tue, 1 Feb 2022 11:05:22 -0800 Subject: [PATCH 1/3] Update plot3d.m Removes the assertion --- @SerialLink/plot3d.m | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/@SerialLink/plot3d.m b/@SerialLink/plot3d.m index 67af4169..7914cf2e 100644 --- a/@SerialLink/plot3d.m +++ b/@SerialLink/plot3d.m @@ -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); From 4c5532828dae35da21811469bc0f83f9e4723426 Mon Sep 17 00:00:00 2001 From: Zachary Lacey Date: Fri, 4 Mar 2022 17:22:49 -0800 Subject: [PATCH 2/3] Update animate.m Updating the animate to be applicable to Modified DH parameters --- @SerialLink/animate.m | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/@SerialLink/animate.m b/@SerialLink/animate.m index e4689efa..c3f5cb0f 100644 --- a/@SerialLink/animate.m +++ b/@SerialLink/animate.m @@ -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) From 68af1ed4f1453753b4ccb78e1e20239384f35f8b Mon Sep 17 00:00:00 2001 From: Zachary G Lacey Date: Thu, 22 Sep 2022 15:42:42 -0700 Subject: [PATCH 3/3] Test --- AstarPO.m | 1 + 1 file changed, 1 insertion(+) diff --git a/AstarPO.m b/AstarPO.m index d85e4fb0..a4df3731 100755 --- a/AstarPO.m +++ b/AstarPO.m @@ -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