close?all;
%?render?arm?in?both?poses
function?draw_arm（js）
??%?fprintf（“draw_arm\n“）;
??%?draw?the?base?of?the?robot
??bulx?=?-0.5;
??buly?=?0.2;
??blrx?=?0;
??blry?=?-1.5;
??bw?=?2;
??line（[bulx?blrx]?[buly?buly]‘linewidth‘bw）;
??line（[blrx?blrx]?[buly?blry]‘linewidth‘bw）;
??line（[blrx?bulx]?[blry?blry]‘linewidth‘bw）;
??line（[bulx?bulx]?[buly?blry]‘linewidth‘bw）;
??fs?=?20;
??%text（bulx+0.2?buly-0.2?“cleaner-bot“‘fontsize‘fs）;

??wulx?=?1.2;
??wuly?=?1.3;
??wlrx?=?1.3;
??wlry?=?-1.1;
??ww?=?3;
??line（[wulx?wlrx]?[wuly?wuly]‘linestyle‘‘--‘‘linewidth‘ww）;
??line（[wlrx?wlrx]?[wuly?wlry]‘linestyle‘‘--‘‘linewidth‘bw）;
??line（[wlrx?wulx]?[wlry?wlry]‘linestyle‘‘--‘‘linewidth‘bw）;
??line（[wulx?wulx]?[wuly?wlry]‘linestyle‘‘--‘‘linewidth‘bw）;


??l0?=?1.0;
??aw?=?10;?%?arm?width
??elbow_xy?=?[l0?*?cos（js（1））?l0?*?sin（js（1））];
??line（[0elbow_xy（1）][0elbow_xy（2）]‘linewidth‘a(chǎn)w）;
??l1?=?0.7;
??wrist_xy?=?[elbow_xy（1）?+?l1?*?cos（js（1）+js（2））
??????????????elbow_xy（2）?+?l1?*?sin（js（1）+js（2））];
??line（[elbow_xy（1）wrist_xy（1）]
???????[elbow_xy（2）wrist_xy（2）]‘linewidth‘a(chǎn)w）;
endfunction

js_start?=?[?0.9?-0.3];
js_end???=?[-1??0.7];
figure;
for?t=0:0.10:1
??draw_arm（js_start?*?（1-t）?+?js_end?*?t）;
end
axis?equal;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

????.......??????1281??2016-01-29?02:29??ROS機器人編程實踐_源碼\chessbot\arm_2d.m

????.......?????34037??2016-01-29?02:29??ROS機器人編程實踐_源碼\chessbot\arm_2d.png

????.......?????????8??2016-01-29?02:29??ROS機器人編程實踐_源碼\chessbot\arm_2d_cartesian.aux

????.......?????16125??2016-01-29?02:29??ROS機器人編程實踐_源碼\chessbot\arm_2d_cartesian.log

????.......??????9541??2016-01-29?02:29??ROS機器人編程實踐_源碼\chessbot\arm_2d_cartesian.pdf

????.......??????5507??2016-01-29?02:29??ROS機器人編程實踐_源碼\chessbot\arm_2d_cartesian.png

????.......???????388??2016-01-29?02:29??ROS機器人編程實踐_源碼\chessbot\arm_2d_cartesian.tex

????.......??????1101??2016-01-29?02:29??ROS機器人編程實踐_源碼\chessbot\arm_parts.m

????.......??????3271??2016-01-29?02:29??ROS機器人編程實踐_源碼\chessbot\arm_parts.png

????.......???????747??2016-01-29?02:29??ROS機器人編程實踐_源碼\chessbot\chessboard.sdf

????.......???????998??2016-01-29?02:29??ROS機器人編程實踐_源碼\chessbot\chess_piece.sdf

????.......??????4671??2016-01-29?02:29??ROS機器人編程實踐_源碼\chessbot\CMakeLists.txt

????.......???????295??2016-01-29?02:29??ROS機器人編程實踐_源碼\chessbot\Makefile

????.......???????390??2016-01-29?02:29??ROS機器人編程實踐_源碼\chessbot\morgan_defeated.pgn

????.......???????419??2016-01-29?02:29??ROS機器人編程實踐_源碼\chessbot\morgan_defeated_lan.pgn

????.......???????447??2016-01-29?02:29??ROS機器人編程實踐_源碼\chessbot\package.xml

????.......????131368??2016-01-29?02:29??ROS機器人編程實踐_源碼\chessbot\pinch.jpg

????.......????130957??2016-01-29?02:29??ROS機器人編程實踐_源碼\chessbot\pre-pinch.jpg

????.......???????163??2016-01-29?02:29??ROS機器人編程實踐_源碼\chessbot\r2.bash

?????文件???????1269??2016-01-29?02:29??ROS機器人編程實踐_源碼\chessbot\r2_chessboard_cli.py

????.......????263595??2016-01-29?02:29??ROS機器人編程實踐_源碼\chessbot\r2_chessmaster.jpg

????.......????134196??2016-01-29?02:29??ROS機器人編程實踐_源碼\chessbot\r2_chessmaster_pieces_knocked_over.jpg

?????文件???????2491??2016-01-29?02:29??ROS機器人編程實踐_源碼\chessbot\r2_chess_pgn.py

?????文件???????1071??2016-01-29?02:29??ROS機器人編程實踐_源碼\chessbot\r2_cli.py

????.......????269326??2016-01-29?02:29??ROS機器人編程實踐_源碼\chessbot\r2_gazebo.png

?????文件???????1138??2016-01-29?02:29??ROS機器人編程實踐_源碼\chessbot\r2_hand.py

????.......????138205??2016-01-29?02:29??ROS機器人編程實踐_源碼\chessbot\r2_looking_at_chessboard.jpg

?????文件????????981??2016-01-29?02:29??ROS機器人編程實踐_源碼\chessbot\r2_mime.py

????.......????175634??2016-01-29?02:29??ROS機器人編程實踐_源碼\chessbot\r2_mime_screenshot.jpg

????.......????638975??2016-01-29?02:29??ROS機器人編程實踐_源碼\chessbot\robonaut-2-task-board.jpg

............此處省略243個文件信息