[Octave-cvsupdate] SF.net SVN: octave:[9025] trunk/octave-forge/extra

[<jpi...@us...>]

Revision: 9025
          http://octave.svn.sourceforge.net/octave/?rev=9025&view=rev
Author:   jpicarbajal
Date:     2011-11-07 21:16:09 +0000 (Mon, 07 Nov 2011)
Log Message:
-----------
robotics. adding subfolders

Added Paths:
-----------
    trunk/octave-forge/extra/robotics/
    trunk/octave-forge/extra/robotics/DESCRIPTION
    trunk/octave-forge/extra/robotics/INDEX
    trunk/octave-forge/extra/robotics/PKG_DEL
    trunk/octave-forge/extra/robotics/devel/
    trunk/octave-forge/extra/robotics/inst/
    trunk/octave-forge/extra/robotics/inst/@Quaternion/
    trunk/octave-forge/extra/robotics/inst/@Quaternion/Quaternion.m
    trunk/octave-forge/extra/robotics/inst/@Quaternion/private/
    trunk/octave-forge/extra/robotics/inst/@Quaternion/private/q2Q.m
    trunk/octave-forge/extra/robotics/inst/@Quaternion/private/wrapperfield.m
    trunk/octave-forge/extra/robotics/inst/@Quaternion/subsref.m

Removed Paths:
-------------
    trunk/octave-forge/extra/robotics/

Added: trunk/octave-forge/extra/robotics/DESCRIPTION
===================================================================
--- trunk/octave-forge/extra/robotics/DESCRIPTION	                        (rev 0)
+++ trunk/octave-forge/extra/robotics/DESCRIPTION	2011-11-07 21:16:09 UTC (rev 9025)
@@ -0,0 +1,11 @@
+Name: Robotics
+Version: 0.0.1
+Date: 2011-11-7
+Author: Peter Corke <pet...@gm...>, Juan Pablo Carbajal <car...@if...>
+Maintainer: Juan Pablo Carbajal <car...@if...>
+Title: Robotics Toolbox
+Description: Toolbox for simulation in robotics and control.
+Depends: octave (>= 3.4.0), quaternions_oo
+Autoload: no
+License: GPL version 3 or later and LGPL
+Url: http://octave.sf.net, http://petercorke.com/Robotics_Toolbox.html

Added: trunk/octave-forge/extra/robotics/INDEX
===================================================================
--- trunk/octave-forge/extra/robotics/INDEX	                        (rev 0)
+++ trunk/octave-forge/extra/robotics/INDEX	2011-11-07 21:16:09 UTC (rev 9025)
@@ -0,0 +1,3 @@
+robotics >> Robotics Toolbox
+Quaternions
+ @Quaternions/Quaternions

Added: trunk/octave-forge/extra/robotics/PKG_DEL
===================================================================
--- trunk/octave-forge/extra/robotics/PKG_DEL	                        (rev 0)
+++ trunk/octave-forge/extra/robotics/PKG_DEL	2011-11-07 21:16:09 UTC (rev 9025)
@@ -0,0 +1,17 @@
+%1
+dirlist = {};
+dirname = fileparts (canonicalize_file_name (mfilename ("fullpath")));
+
+if (! exist (fullfile (dirname, "inst"), "dir"))
+  for ii=1:length (dirlist)
+      ## Run this if the package is installed
+      rmpath ( [ dirname filesep dirlist{ii}])
+  end
+else
+  warning("robotics:Devel","Removing path for testing.");
+  for ii=1:length(dirlist)
+    rmpath ([ dirname "/inst/" dirlist{ii}])
+  endfor
+endif
+
+clear dirlist dirname

Added: trunk/octave-forge/extra/robotics/inst/@Quaternion/Quaternion.m
===================================================================
--- trunk/octave-forge/extra/robotics/inst/@Quaternion/Quaternion.m	                        (rev 0)
+++ trunk/octave-forge/extra/robotics/inst/@Quaternion/Quaternion.m	2011-11-07 21:16:09 UTC (rev 9025)
@@ -0,0 +1,71 @@
+## Copyright (c) 2011 Juan Pablo Carbajal <car...@if...>
+##
+## This program is free software; you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation; either version 3 of the License, or
+## (at your option) any later version.
+##
+## This program is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with this program; if not, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## @deftypefn {Function File} {@var{Q} =} Quaternion ()
+## @deftypefnx {Function File} {@var{Q} =} Quaternion (@var{q1})
+## @deftypefnx {Function File} {@var{Q} =} Quaternion ([@var{s} @var{x} @var{y} @var{z}])
+## @deftypefnx {Function File} {@var{Q} =} Quaternion (@var{s})
+## @deftypefnx {Function File} {@var{Q} =} Quaternion (@var{v})
+## @deftypefnx {Function File} {@var{Q} =} Quaternion (@var{th},@var{v})
+## @deftypefnx {Function File} {@var{Q} =} Quaternion (@var{r})
+## @deftypefnx {Function File} {@var{Q} =} Quaternion (@var{t})
+## Create an object of the Quaternion class.
+##
+## This is a wrapper class of the quaterion class of the quaternions_oo package.
+##
+## Quaternion() is the identitity quaternion 1<0,0,0> representing a null
+## rotation.
+##
+## Quaternion (@var{q1}) is a copy of the quaternion Q1
+##
+## Quaternion ([@var{s} @var{x} @var{y} @var{z}]) is a quaternion formed by
+## specifying directly its 4 elements
+##
+## Quaternion (@var{s}) is a quaternion formed from the scalar S and zero vector
+## part: S<0,0,0>
+##
+## Quaternion (@var{v}) is a pure quaternion with the specified vector part: 0<V>
+##
+## Quaternion (@var{th},@var{v}) is a unit quaternion corresponding to rotation
+## of TH about the vector V.
+##
+## Quaternion (@var{r}) is a unit quaternion corresponding to the orthonormal
+## rotation matrix R.
+##
+## Quaternion (@var{t}) is a unit quaternion equivalent to the rotational part
+## of the homogeneous transform T.
+##
+## @seealso{quaternion}
+## @end deftypefn
+
+function Q = Quaternions(varargin)
+
+  switch nargin
+    case 0
+      Q = struct("q_wrap",quaternion(1,0,0,0), "R",eye(3),"T",[eye(3) zeros(3,1); 0 0 0 1],...
+                 "s",1,"v",[0 0 0]);
+    otherwise
+      error("robotics:Devel","multiple constructors not implemented");
+  end
+
+  Q = class (Q, 'Quaternion');
+  
+endfunction
+
+%!test
+%!  Q = Quaternion();
+
+%!error Quaternion([1 0 0 0])

Added: trunk/octave-forge/extra/robotics/inst/@Quaternion/private/q2Q.m
===================================================================
--- trunk/octave-forge/extra/robotics/inst/@Quaternion/private/q2Q.m	                        (rev 0)
+++ trunk/octave-forge/extra/robotics/inst/@Quaternion/private/q2Q.m	2011-11-07 21:16:09 UTC (rev 9025)
@@ -0,0 +1,33 @@
+## Copyright (c) 2011 Juan Pablo Carbajal <car...@if...>
+##
+##    This program is free software: you can redistribute it and/or modify
+##    it under the terms of the GNU General Public License as published by
+##    the Free Software Foundation, either version 3 of the License, or
+##    any later version.
+##
+##    This program is distributed in the hope that it will be useful,
+##    but WITHOUT ANY WARRANTY; without even the implied warranty of
+##    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+##    GNU General Public License for more details.
+##
+##    You should have received a copy of the GNU General Public License
+##    along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## @deftypefn {Function File} {} q2Q (@var{obj})
+## Convertas a quaterion in to a Quaternion.
+##
+## @end deftypefn
+
+function Q = q2Q (Q,q)
+
+  Q.s = q(0);
+  Q.v(1) = q(1);
+  Q.v(2) = q(2);
+  Q.v(3) = q(3);
+  
+  ## TODO Rest of the fields
+
+  warning("robotics:Devel","Conversion from quaternion to Quaterninon not finished.");
+
+endfunction

Added: trunk/octave-forge/extra/robotics/inst/@Quaternion/private/wrapperfield.m
===================================================================
--- trunk/octave-forge/extra/robotics/inst/@Quaternion/private/wrapperfield.m	                        (rev 0)
+++ trunk/octave-forge/extra/robotics/inst/@Quaternion/private/wrapperfield.m	2011-11-07 21:16:09 UTC (rev 9025)
@@ -0,0 +1,24 @@
+## Copyright (c) 2011 Juan Pablo Carbajal <car...@if...>
+##
+##    This program is free software: you can redistribute it and/or modify
+##    it under the terms of the GNU General Public License as published by
+##    the Free Software Foundation, either version 3 of the License, or
+##    any later version.
+##
+##    This program is distributed in the hope that it will be useful,
+##    but WITHOUT ANY WARRANTY; without even the implied warranty of
+##    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+##    GNU General Public License for more details.
+##
+##    You should have received a copy of the GNU General Public License
+##    along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## @deftypefn {Function File} {} warapperfield (@var{obj})
+## Returns the wrapped quaternion.
+##
+## @end deftypefn
+
+function q = wrapperfield (obj)
+  q = obj.q_wrap;
+endfunction

Added: trunk/octave-forge/extra/robotics/inst/@Quaternion/subsref.m
===================================================================
--- trunk/octave-forge/extra/robotics/inst/@Quaternion/subsref.m	                        (rev 0)
+++ trunk/octave-forge/extra/robotics/inst/@Quaternion/subsref.m	2011-11-07 21:16:09 UTC (rev 9025)
@@ -0,0 +1,87 @@
+## Copyright (C) 2011 Carnë Draug <car...@gm...>
+## Copyright (c) 2011 Juan Pablo Carbajal <car...@if...>
+## Improvement based on John W. Eaton's idea.
+##
+## This program is free software; you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation; either version 3 of the License, or
+## (at your option) any later version.
+##
+## This program is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with this program; if not, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## @deftypefn {Function File} {} subsrefs ()
+## @end deftypefn
+
+function varargout = subsref (obj, idx)
+
+  persistent __method__ method4field typeNotImplemented
+  if isempty(__method__)
+
+    __method__ = struct();
+
+    __method__.inv = @(o,a) q2Q(obj, conj(wrapperfield(obj)));
+
+    __method__.norm = @(o,a) abs(wrapperfield(obj));
+
+    __method__.unit = @(o,a) error(typeNotImplemented,'unit',o);
+
+    __method__.unitize = @(o,a) error(typeNotImplemented,'unitize',o);
+
+    __method__.plot = @(o,a) error(typeNotImplemented,'plot',o);
+
+    __method__.interp = @(o,a) error(typeNotImplemented,'interp',o);
+
+    __method__.scale = @(o,a) error(typeNotImplemented,'scale',o);
+
+    __method__.dot = @(o,a) error(typeNotImplemented,'dot',o);
+
+    # Error strings
+    method4field = "Class %s has no field %s. Use %s() for the method.";
+    typeNotImplemented = "%s no implemented for class %s.";
+
+  end
+
+  if ( !strcmp (class (obj), 'Quaternion') )
+    error ("Object must be of the Quaternion class but '%s' was used", class (obj) );
+  elseif ( idx(1).type != '.' )
+    error ("Invalid index for class %s", class (obj) );
+  endif
+
+  method = idx(1).subs;
+  if ~isfield(__method__, method)
+    error('Unknown method %s.',method);
+  else
+    fhandle = __method__.(method);
+  end
+
+  if numel (idx) == 1 % can't access properties, only methods
+
+    error (method4field, class (obj), method, method);
+
+  end
+
+  if strcmp (idx(2).type, '()')
+
+    args = idx(2).subs;
+    if isempty(args)
+     out = fhandle (obj);
+    else
+      out = fhandle (obj, args{:});
+    end
+
+    varargout{1} = out;
+
+  else
+
+    error (typeNotImplemented,[method idx(2).type], class (obj));
+
+  end
+
+endfunction

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