/
RTBPlot.m
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RTBPlot.m
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%RTBPlot Plot utilities for Robotics Toolbox
% Copyright (C) 1993-2017, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
%
% RTB is free software: you can redistribute it and/or modify
% it under the terms of the GNU Lesser General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% (at your option) any later version.
%
% RTB 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 Lesser General Public License for more details.
%
% You should have received a copy of the GNU Leser General Public License
% along with RTB. If not, see <http://www.gnu.org/licenses/>.
%
% http://www.petercorke.com
classdef RTBPlot
methods (Static)
function th = install_teach_panel(name, robot, q, opt)
%-------------------------------
% parameters for teach panel
bgcol = [135 206 250]/255; % background color
height = 0.06; % height of slider rows
%-------------------------------
%---- install the panel at the side of the figure
% find the right figure to put it in
c = findobj(gca, 'Tag', name); % check the current axes
if isempty(c)
% doesn't exist in current axes, look wider
c = findobj(0, 'Tag', name); % check all figures
if ~isempty(c)
ax = get(c(1), 'Parent'); % get first axis holding the robot
else
error('RTB:RTBPlot:install_teach_panel', 'no window found');
end
else
% found it in current axes
ax = gca;
end
teachhandles.fig = get(ax, 'Parent'); % get the figure that holds the axis
% shrink the current axes to make room
% [l b w h]
if opt.d_2d
ax.ZColor = 'none';
ax.Color = 'none';
ax.Position = [0.22 0.05 0.8 1];
else
ax.Position = [0.3 0 0.7 1];
end
teachhandles.curax = ax;
% create the panel itself
panel = uipanel(teachhandles.fig, ...
'Title', 'Teach', ...
'BackGroundColor', bgcol,...
'Position', [0 0 0.25 1]);
panel.Units = 'pixels'; % stop automatic resizing
teachhandles.panel = panel;
set(teachhandles.fig, 'Units', 'pixels');
set(teachhandles.fig, 'ResizeFcn', @(src,event) RTBPlot.resize_callback(robot, teachhandles));
%---- get the current robot state
% if isempty(q)
% % check to see if there are any graphical robots of this name
% rhandles = findobj('Tag', robot.name);
%
% % find the graphical element of this name
% assert(~isempty(rhandles), 'RTB:teach:badarg', 'No graphical robot of this name found');
%
% % get the info from its Userdata
% info = get(rhandles(1), 'UserData');
%
% % the handle contains current joint angles (set by plot)
% if ~isempty(info.q)
% q = info.q;
% end
% else
% robot.plot(q);
% end
teachhandles.q = q;
T6 = robot.fkine(q);
if isa(T6, 'SE2')
T6 = T6.SE3;
end
T6 = T6.T;
% we need to have qlim set to finite values for a prismatic joint
if isa(robot, 'SerialLink')
qlim = robot.qlim;
assert(~any(isinf(qlim(:))), 'RTB:teach:badarg', 'Must define joint coordinate limits for prismatic axes, set qlim properties for prismatic Links');
% set up scale factor, from actual limits in radians/metres to display units
qscale = ones(robot.n,1);
for j=1:robot.n
L=robot.links(j);
if opt.deg && L.isrevolute
qscale(j) = 180/pi;
end
end
else
% for an ETS*
for i=1:robot.n
if robot(i).isprismatic
qlim(i,:) = [0 2*robot(i).param];
else
qlim(i,:) = pi*[-1 1];
end
end
% set up scale factor, from actual limits in radians/metres to display units
qscale = ones(robot.n,1);
for j=1:robot.n
if ~robot(i).isprismatic && opt.deg
qscale(j) = 180/pi;
else
qscale(j) = 1;
end
end
end
teachhandles.qscale = qscale;
teachhandles.robot = robot;
teachhandles.q = q;
teachhandles.orientation = opt.orientation;
teachhandles.opt = opt;
%---- now make the sliders
n = robot.n;
for j=1:n
% slider label
uicontrol(panel, 'Style', 'text', ...
'Units', 'normalized', ...
'BackgroundColor', bgcol, ...
'Position', [0 height*(n-j+2) 0.15 height], ...
'FontUnits', 'normalized', ...
'FontSize', 0.5, ...
'String', sprintf('q%d', j));
% slider itself
q(j) = max( qlim(j,1), min( qlim(j,2), q(j) ) ); % clip to range
teachhandles.slider(j) = uicontrol(panel, 'Style', 'slider', ...
'Units', 'normalized', ...
'Position', [0.15 height*(n-j+2) 0.65 height], ...
'Min', qlim(j,1), ...
'Max', qlim(j,2), ...
'Value', q(j), ...
'TooltipString', sprintf('Joint %d value', j), ...
'Tag', sprintf('Slider%d', j));
% text box showing slider value, also editable
teachhandles.edit(j) = uicontrol(panel, 'Style', 'edit', ...
'Units', 'normalized', ...
'Position', [0.80 height*(n-j+2)+.01 0.20 0.9*height], ...
'BackgroundColor', bgcol, ...
'String', num2str(qscale(j)*q(j), 3), ...
'HorizontalAlignment', 'left', ...
'FontUnits', 'normalized', ...
'FontSize', 0.4, ...
'Tag', sprintf('Edit%d', j));
end
%---- set up the position display box
% X
uicontrol(panel, 'Style', 'text', ...
'Units', 'normalized', ...
'BackgroundColor', bgcol, ...
'Position', [0.05 1-height 0.2 height], ...
'FontUnits', 'normalized', ...
'FontSize', 0.9, ...
'HorizontalAlignment', 'left', ...
'String', 'x:');
teachhandles.t6.t(1) = uicontrol(panel, 'Style', 'text', ...
'Units', 'normalized', ...
'Position', [0.3 1-height 0.6 height], ...
'FontUnits', 'normalized', ...
'FontSize', 0.8, ...
'String', sprintf('%.3f ', T6(1,4)), ...
'TooltipString', 'End-effector x-coordinate', ...
'HorizontalAlignment', 'right', ...
'Tag', 'T6');
% Y
uicontrol(panel, 'Style', 'text', ...
'Units', 'normalized', ...
'BackgroundColor', bgcol, ...
'Position', [0.05 1-2*height 0.2 height], ...
'FontUnits', 'normalized', ...
'FontSize', 0.9, ...
'HorizontalAlignment', 'left', ...
'String', 'y:');
teachhandles.t6.t(2) = uicontrol(panel, 'Style', 'text', ...
'Units', 'normalized', ...
'Position', [0.3 1-2*height 0.6 height], ...
'FontUnits', 'normalized', ...
'FontSize', 0.8, ...
'TooltipString', 'End-effector y-coordinate', ...
'HorizontalAlignment', 'right', ...
'String', sprintf('%.3f ', T6(2,4)));
if ~opt.d_2d
% Z
uicontrol(panel, 'Style', 'text', ...
'Units', 'normalized', ...
'BackgroundColor', bgcol, ...
'Position', [0.05 1-3*height 0.2 height], ...
'FontUnits', 'normalized', ...
'FontSize', 0.9, ...
'HorizontalAlignment', 'left', ...
'String', 'z:');
teachhandles.t6.t(3) = uicontrol(panel, 'Style', 'text', ...
'Units', 'normalized', ...
'Position', [0.3 1-3*height 0.6 height], ...
'FontUnits', 'normalized', ...
'FontSize', 0.8, ...
'TooltipString', 'End-effector z-coordinate', ...
'HorizontalAlignment', 'right', ...
'String', sprintf('%.3f ', T6(3,4)));
end
% Orientation
switch opt.orientation
case 'approach'
labels = {'ax:', 'ay:', 'az:'};
tips = {'Approach vector - x component', 'Approach vector - y component', 'Approach vector - z component'};
case 'eul'
labels = {[char(hex2dec('3c6')) ':'], [char(hex2dec('3b8')) ':'], [char(hex2dec('3c8')) ':']}; % phi theta psi
tips = {'Euler angle phi (about Z)', 'Euler angle theta (about Y)', 'Euler angle psi (about Z)'};
case {'rpy', 'rpy/xyz'}
labels = {'R:', 'P:', 'Y:'};
tips = {'Roll angle (about Z)', 'Pitch angle (about Y)', 'Yaw angle (about X)'};
case 'rpy/zyx'
labels = {'R:', 'P:', 'Y:'};
tips = {'Roll angle (about X)', 'Pitch angle (about Y)', 'Yaw angle (about Z)'};
end
%---- set up the orientation display box
if opt.d_2d
uicontrol(panel, 'Style', 'text', ...
'Units', 'normalized', ...
'BackgroundColor', bgcol, ...
'Position', [0.05 1-5*height 0.2 height], ...
'FontUnits', 'normalized', ...
'FontSize', 0.9, ...
'HorizontalAlignment', 'left', ...
'String', 'Yaw:');
teachhandles.t6.r(1) = uicontrol(panel, 'Style', 'text', ...
'Units', 'normalized', ...
'Position', [0.3 1-5*height 0.6 height], ...
'FontUnits', 'normalized', ...
'FontSize', 0.8, ...
'TooltipString', 'Yaw angle (about Z)', ...
'String', sprintf('%.3f', 0));
else
% AX
uicontrol(panel, 'Style', 'text', ...
'Units', 'normalized', ...
'BackgroundColor', bgcol, ...
'Position', [0.05 1-5*height 0.2 height], ...
'FontUnits', 'normalized', ...
'FontSize', 0.9, ...
'HorizontalAlignment', 'left', ...
'String', labels(1));
teachhandles.t6.r(1) = uicontrol(panel, 'Style', 'text', ...
'Units', 'normalized', ...
'Position', [0.3 1-5*height 0.6 height], ...
'FontUnits', 'normalized', ...
'FontSize', 0.8, ...
'TooltipString', tips{1}, ...
'HorizontalAlignment', 'right', ...
'String', sprintf("%.1f ", 0));
% AY
uicontrol(panel, 'Style', 'text', ...
'Units', 'normalized', ...
'BackgroundColor', bgcol, ...
'Position', [0.05 1-6*height 0.2 height], ...
'FontUnits', 'normalized', ...
'FontSize', 0.9, ...
'HorizontalAlignment', 'left', ...
'String', labels(2));
teachhandles.t6.r(2) = uicontrol(panel, 'Style', 'text', ...
'Units', 'normalized', ...
'Position', [0.3 1-6*height 0.6 height], ...
'FontUnits', 'normalized', ...
'FontSize', 0.8, ...
'TooltipString', tips{2}, ...
'HorizontalAlignment', 'right', ...
'String', sprintf("%.1f ", 0));
% AZ
uicontrol(panel, 'Style', 'text', ...
'Units', 'normalized', ...
'BackgroundColor', bgcol, ...
'Position', [0.05 1-7*height 0.2 height], ...
'FontUnits', 'normalized', ...
'FontSize', 0.9, ...
'HorizontalAlignment', 'r', ...
'HorizontalAlignment', 'left', ...
'String', labels(3));
teachhandles.t6.r(3) = uicontrol(panel, 'Style', 'text', ...
'Units', 'normalized', ...
'Position', [0.3 1-7*height 0.6 height], ...
'FontUnits', 'normalized', ...
'FontSize', 0.8, ...
'TooltipString', tips{3}, ...
'HorizontalAlignment', 'right', ...
'String', sprintf("%.1f ", 0));
end
%---- add buttons
uicontrol(panel, 'Style', 'pushbutton', ...
'Units', 'normalized', ...
'Position', [0.80 height*(0)+.01 0.15 height], ...
'FontUnits', 'normalized', ...
'FontSize', 0.7, ...
'CallBack', @(src,event) RTBPlot.quit_callback(robot, teachhandles), ...
'BackgroundColor', 'white', ...
'ForegroundColor', 'red', ...
'TooltipString', 'Quit', ...
'String', 'X');
% the record button
teachhandles.record = [];
if isfield(opt, 'record') && ~isempty(opt.record)
uicontrol(panel, 'Style', 'pushbutton', ...
'Units', 'normalized', ...
'Position', [0.1 height*(0)+.01 0.30 height], ...
'FontUnits', 'normalized', ...
'FontSize', 0.6, ...
'CallBack', @(src,event) RTBPlot.record_callback(robot, teachhandles), ...
'BackgroundColor', 'red', ...
'ForegroundColor', 'white', ...
'String', 'REC');
end
teachhandles.callback = opt.callback;
%---- now assign the callbacks
for j=1:n
% text edit box
set(teachhandles.edit(j), ...
'Interruptible', 'off', ...
'Callback', @(src,event)RTBPlot.teach_callback(src, name, j, teachhandles));
% slider
set(teachhandles.slider(j), ...
'Interruptible', 'off', ...
'BusyAction', 'queue' );
% ask for continuous callbacks
addlistener(teachhandles.slider(j), 'ContinuousValueChange', ...
@(src,event)RTBPlot.teach_callback(src, name, j, teachhandles) );
end
% refresh the display
RTBPlot.teach_callback([], name, [], teachhandles);
if nargout > 0
th = teachhandles;
end
end
function teach_callback(src, name, j, teachhandles)
% called on changes to a slider or to the edit box showing joint coordinate
%
% src the object that caused the event
% name name of the robot
% j the joint index concerned (1..N)
% slider true if the
qscale = teachhandles.qscale;
if ~isempty(src)
switch get(src, 'Style')
case 'slider'
% slider changed, get value and reflect it to edit box
newval = get(src, 'Value');
set(teachhandles.edit(j), 'String', sprintf("%.1f", qscale(j)*newval));
case 'edit'
% edit box changed, get value and reflect it to slider
newval = str2double(get(src, 'String')) / qscale(j);
set(teachhandles.slider(j), 'Value', newval);
end
end
%fprintf('newval %d %f\n', j, newval);
% find all graphical objects tagged with the robot name, this is the
% instances of that robot across all figures
h = findobj('Tag', name);
% find the graphical element of this name
if isempty(h)
error('RTB:teach:badarg', 'No graphical robot of this name found');
end
% get the info from its Userdata
info = get(h(1), 'UserData');
if ~isempty(j)
% update the stored joint coordinates
info.q(j) = newval;
% and save it back to the graphical object
set(h(1), 'UserData', info);
end
% update all robots of this name
animate(teachhandles.robot, info.q);
% compute the robot tool pose
T6 = teachhandles.robot.fkine(info.q);
if isa(T6, 'SE2')
T6 = T6.SE3;
end
T6 = T6.T;
% convert orientation to desired format
switch teachhandles.orientation
case 'approach'
orient = T6(:,3); % approach vector
case 'eul'
orient = tr2eul(T6, 'setopt', teachhandles.opt);
case {'rpy','rpy/xyz'}
orient = tr2rpy(T6, 'xyz', 'setopt', teachhandles.opt);
case'rpy/zyx'
orient = tr2rpy(T6, 'zyx', 'setopt', teachhandles.opt);
end
% update the display in the teach window
if teachhandles.opt.d_2d
set(teachhandles.t6.t(1), 'String', sprintf('%.3f', T6(1,4)));
set(teachhandles.t6.t(2), 'String', sprintf('%.3f', T6(2,4)));
set(teachhandles.t6.r(1), 'String', sprintf('%.3f', orient(1)));
else
for i=1:3
set(teachhandles.t6.t(i), 'String', sprintf("%.3f ", T6(i,4)));
set(teachhandles.t6.r(i), 'String', sprintf("%.1f ", orient(i)));
end
end
if isfield(teachhandles, 'callback') && ~isempty(teachhandles.callback)
teachhandles.callback(teachhandles.robot, info.q);
end
%notify(handles.robot, 'Moved');
end
function record_callback(robot, handles)
if ~isempty(handles.callback)
handles.record(h.q);
end
end
function quit_callback(robot, handles)
set(handles.fig, 'ResizeFcn', '');
delete(handles.panel);
set(handles.curax, 'Units', 'Normalized', 'OuterPosition', [0 0 1 1])
end
function resize_callback(robot, handles)
% come here on figure resize events
fig = gcbo; % this figure (whose callback is executing)
fs = get(fig, 'Position'); % get size of figure
ps = get(handles.panel, 'Position'); % get position of the panel
% update dimensions of the axis area
set(handles.curax, 'Units', 'pixels', ...
'OuterPosition', [ps(3) 0 fs(3)-ps(3) fs(4)]);
% keep the panel anchored to the top left corner
set(handles.panel, 'Position', [1 fs(4)-ps(4) ps(3:4)]);
end
function cyl(ax, r, extent, color, offset, varargin)
%RTBPlot.cyl Draw a cylinder
%
% CYL(AX, R, EXTENT, COLOR, OFFSET, OPTIONS) draws a cylinder parallel to
% axis AX ('x', 'y' or 'z') of radius R between EXTENT(1) and EXTENT(2).
%
% OPTIONS are passed through to surf.
%
% See also surf, RTBPlot.box.
n = 20;
theta = (0:n)/n*2*pi;
RTBPlot.draw_shape(ax, r, extent, color, offset, theta, varargin{:});
end
function box(ax, r, extent, color, offset, varargin)
%RTBPlot.box Draw a box
%
% BPX(AX, R, EXTENT, COLOR, OFFSET, OPTIONS) draws a cylinder parallel to
% axis AX ('x', 'y' or 'z') of side length R between EXTENT(1) and EXTENT(2).
theta = [1 3 5 7 9]/4*pi;
RTBPlot.draw_shape(ax, r, extent, color, offset, theta, varargin{:});
end
function draw_shape(ax, r, extent, color, offset, theta, varargin)
% draw nothing if extent range is zero
if abs(extent(1) - extent(2)) < eps
return
end
% default value for offset
if isempty(offset)
offset = [0 0 0];
end
r = [r;r];
n = length(theta)-1;
switch ax
case 'x'
y = r * cos(theta);
z = r * sin(theta);
x = extent(:) * ones(1,n+1);
case 'y'
x = r * cos(theta);
z = r * sin(theta);
y = extent(:) * ones(1,n+1);
case 'z'
y = r * cos(theta);
x = r * sin(theta);
z = extent(:) * ones(1,n+1);
end
x = x + offset(1);
y = y + offset(2);
z = z + offset(3);
% walls of the shape
surf(x,y,z, 'FaceColor', color, 'EdgeColor', 'none', varargin{:})
% put the ends on
patch(x', y', z', color, 'EdgeColor', 'none', varargin{:});
end
function create_floor(opt)
if ~isempty(opt.floorimage)
RTBPlot.create_image_floor(opt)
else
RTBPlot.create_tiled_floor(opt)
end
end
function create_image_floor(opt)
xmin = opt.workspace(1);
xmax = opt.workspace(2);
ymin = opt.workspace(3);
ymax = opt.workspace(4);
[X,Y] = meshgrid([xmin, xmax], [ymin ymax]);
Z = opt.floorlevel*ones(2,2);
C = repmat(opt.floorimage, 1, 1, 3);
surface(X, Y, Z, C, ...
'FaceColor','texturemap',...
'EdgeColor','none',...
'SpecularStrength', 0, ...
'CDataMapping','direct');
end
% draw a tiled floor in the current axes
function create_tiled_floor(opt)
if ~opt.tiles
return
end
xmin = opt.workspace(1);
xmax = opt.workspace(2);
ymin = opt.workspace(3);
ymax = opt.workspace(4);
% create a colored tiled floor
xt = xmin:opt.tilesize:xmax;
yt = ymin:opt.tilesize:ymax;
Z = opt.floorlevel*ones( numel(yt), numel(xt));
C = zeros(size(Z));
[r,c] = ind2sub(size(C), 1:numel(C));
C = bitand(r+c,1);
C = reshape(C, size(Z));
C = cat(3, opt.tile1color(1)*C+opt.tile2color(1)*(1-C), ...
opt.tile1color(2)*C+opt.tile2color(2)*(1-C), ...
opt.tile1color(3)*C+opt.tile2color(3)*(1-C));
[X,Y] = meshgrid(xt, yt);
surface(X, Y, Z, C, ...
'FaceColor','texturemap',...
'EdgeColor','none',...
'SpecularStrength', 0, ...
'CDataMapping','direct');
end
function opt = plot_options(robot, optin)
opt.deg = false;
% timing/looping
opt.delay = 0.1;
opt.fps = [];
opt.loop = false;
opt.raise = false;
% general appearance
opt.scale = 1;
opt.zoom = 1;
opt.trail = [];
opt.workspace = [];
opt.reach = [];
opt.name = true;
opt.projection = {'ortho', 'perspective'};
opt.view = [];
opt.top = false;
% 3D rendering
opt.shading = true;
opt.lightpos = [1 1 20];
% tiled floor
opt.tiles = true;
opt.tile1color = [0.5 1 0.5]; % light green
opt.tile2color = [1 1 1]; % white
opt.floorlevel = [];
opt.tilesize = [];
opt.floorimage = [];
% shadow on the floor
opt.shadow = true;
opt.shadowcolor = [0.5 0.5 0.5];
opt.shadowwidth = 6;
% the base or pedestal
opt.base = true;
opt.basewidth = 3;
opt.basecolor = 'k';
% wrist
opt.wrist = true;
opt.wristlabel = {'xyz', 'noa'};
opt.arrow = true;
opt.wristlen = 16;
% joint rotation axes
opt.jaxes = false;
opt.jvec = false;
% joint cylinders
opt.joints = true;
opt.jointdiam = 1.5;
opt.jointlen = 3;
opt.jointcolor = [0.7 0 0];
opt.pjointcolor = [0.4 1 0.03];
% links
opt.linkcolor = 'b';
opt.toolcolor = 'r';
% misc
opt.movie = [];
% build a list of options from all sources
% 1. the M-file plotbotopt if it exists
% 2. robot.plotopt
% 3. command line arguments
options = optin;
if ~isempty(robot)
options = [robot.plotopt options];
end
if exist('plotbotopt', 'file') == 2
options = [plotbotopt options];
end
% parse the options
[opt,args] = tb_optparse(opt, options);
if ~isempty(args)
error(['unknown option: ' args{1}]);
end
if opt.top
opt.view = 'top';
end
if ~isempty(opt.projection)
opt.projection = 'ortho';
end
if ~isempty(opt.floorimage)
opt.tiles = false;
end
% figure the size of the figure
if ~isempty(opt.reach)
reach = opt.reach;
else
% reach is not specified use a simple heuristic to figure the maximum reach of the robot
assert(~isempty(robot), 'RTB:RTBPlot:plot_options', 'robot must be defined to estimate reach');
L = robot.links;
reach = 0;
for j=1:robot.n
if L(j).isrevolute
% revolute, add the link length and offset
reach = reach + abs(L(j).a) + abs(L(j).d);
else
% prismatic
if ~isempty(L(j).qlim)
% use the maximum joint value
assert(all(L(j).qlim >= 0), 'RTB:RTBPlot:plot_options', 'prismatic joint %d qlim values cannot be negative', j)
reach = reach + abs(L(j).a) + max(abs(L(j).qlim));
else
% prismatic joint has no maximum length provided
if isempty(opt.workspace)
% workspace was given so don't complain, but we still need to compute reach
% mark it as NaN and compute it later from workspace
error('RTB:RTBPlot:plot_options', 'prismatic joint %d has no qlim parameter set, set it or specify ''workspace'' plot option', j);
else
reach = NaN;
end
end
end
end
reach = reach + sum(abs(robot.tool.t)); % add the tool length
end
if isnan(reach)
% reach couldn't be estimated because a prismatic qlim was missing,
% estimate it from workspace
reach = max( colnorm( reshape(opt.workspace, [2 3]) ) ) / 2;
end
if isempty(opt.workspace)
% now create a 3D volume based on this reach
opt.workspace = [-reach reach -reach reach -reach reach];
end
if opt.tiles && isempty(opt.tilesize)
d = max(opt.workspace(2)-opt.workspace(1), opt.workspace(4)-opt.workspace(3));
ts = d / 20; % go for 20 tiles to span the distance as first guess
scale = 10^floor(log10(ts)); % figure a scale factor 1,2,5 * 10^N
ts = ts/scale;
allowed = [1 2 5 10];
k = find(ts >= allowed);
opt.tilesize = allowed(k(end)) * scale;
end
if opt.wrist
% the wrist axes add to the maximum reach, we need to scale the wrist
% length to keep within bounds
f = (1 + opt.wristlen/40);
reach = reach * f;
opt.wristlen = 40*(1-1/f);
end
reach = reach/opt.zoom;
% if we have a floor, quantize the reach to a tile size
if opt.tiles
reach = opt.tilesize * ceil(reach/opt.tilesize);
end
% figure out where the floor is
if isempty(opt.workspace)
% if a floorlevel has been given, ammend the 3D volume
if ~isempty(opt.floorlevel)
opt.workspace(5) = opt.floorlevel;
else
opt.floorlevel = -reach;
end
else
if opt.tiles
% set xy limits to be integer multiple of tilesize
opt.workspace(1:4) = opt.tilesize * round(opt.workspace(1:4)/opt.tilesize);
end
opt.floorlevel = opt.workspace(5);
end
% update the fundamental scale factor (given by the user as a multiplier) by a length derived from
% the overall workspace dimension
% we need that a lot when creating the robot model
if reach > 0
opt.scale = opt.scale * reach/40;
else
opt.scale = opt.scale / 40;
end
if ~isempty(opt.fps)
opt.delay = 1/opt.fps;
end
end
end
end