%GET Get method for differential drive robot object. % V = GET(R,'PropertyName') returns the value of the specified % property for the differential drive robot object R. % % GET(R) displays all property names and their current values % for the differential drive robot object R. % % Examples: % state = get(r,'x'); % % See also: ROBOTDD/SET. % Copyright (c) 2004, CAS-KTH. See licence file for more info. % v.1.0, Nov. 2003, Kai Arras function val = get(varargin); switch nargin, case 1, r = varargin{1}; if (isa(r,'robotdd')) get(r.robot); disp(sprintf(' X = [%s %s %s]', num2str(r.x(1)), ... num2str(r.x(2)), num2str(r.x(3)))); disp(sprintf(' C = [%s %s %s; %s %s %s; %s %s %s]', ... num2str(r.C(1,1)), num2str(r.C(1,2)), num2str(r.C(1,3)), ... num2str(r.C(2,1)), num2str(r.C(2,2)), num2str(r.C(2,3)), ... num2str(r.C(3,1)), num2str(r.C(3,2)), num2str(r.C(3,3)))); disp(sprintf(' Rl = [%s]', num2str(r.rl))); disp(sprintf(' Rr = [%s]', num2str(r.rr))); disp(sprintf(' B = [%s]', num2str(r.b))); else error('robotdd/get: Wrong argument type') end; case 2, r = varargin{1}; prop_name = varargin{2}; switch lower(prop_name), case 'type', val = get(r.robot,'type'); case 'id', val = get(r.robot,'id'); case 'name', val = get(r.robot,'name'); case {'x', 'state'}, val = r.x; case 'c', val = r.C; case 'b', val = r.b; case 'rl', val = r.rl; case 'rr', val = r.rr; case 'formtype', val = get(r.robot,'formtype'); case {'timestamp', 'time'}, val = get(r.robot,'timestamp'); otherwise error([prop_name,' is not a valid robot object property']); end; otherwise error('robotdd/get: Wrong number of input arguments') end
