%SET    Set method for differential drive robot object.%   R = SET(R,'PropertyName',PropertyValue) sets the value of%   the specified property for the differential drive robot%   object R.%  %   R = SET(R,'PropertyName1',PropertyValue1,'PropertyName2',%   PropertyValue2,...) sets multiple property values with a%   single statement.%%   Note that the assignment to the output R is necessary since%   Matlab does not support passing arguments by reference.%   Hence the set method actually operates on a copy of the object.%%   SET(R) displays all property names and their possible values %   for the differential drive robot object R.%%   Examples:%      r = set(r,'x',[0;1;pi/3],'C',zeros(3));% %   See also: ROBOTDD/GET.% Copyright (c) 2004, CAS-KTH. See licence file for more info.% v.1.0, Nov. 2003, Kai Arrasfunction r = set(varargin);if nargin == 1,  r = varargin{1};  if (isa(r,'robotdd'))    set(r.robot);    disp(sprintf('       X: 3x1 vector'));    disp(sprintf('       C: 3x3 matrix'));    disp(sprintf('       Rl'));    disp(sprintf('       Rr'));    disp(sprintf('       B'));  else    error('robotdd/set: Wrong argument type')  end;elseif rem(nargin,2) ~= 0,  r = varargin{1};  prop_argin = varargin(2:end);  while length(prop_argin) >= 2,    prop_name  = prop_argin{1};    val        = prop_argin{2};    prop_argin = prop_argin(3:end);    switch lower(prop_name),      case 'id',        r.robot = set(r.robot,'id',val);      case 'name',        r.robot = set(r.robot,'name',val);      case {'x','state'},        r.x = val;      case 'c',        r.C = val;      case 'b',        r.b = val;      case 'rl',        r.rl = val;      case 'rr',        r.rr = val;      case 'formtype',        r.robot = set(r.robot,'formtype',val);      case {'timestamp','time'},        r.robot = set(r.robot,'timestamp',val);      otherwise        error([prop_name,' is not accessible or not a valid differential drive robot property']);    end;  end;else  error('robotdd/set: Wrong number of input arguments')end;