%ROBOT Robot object constructor%%	ROBOT			create a ROBOT object with no links%	ROBOT(robot)		create a copy of an existing ROBOT object%	ROBOT(robot, LINK)	replaces links for robot object%	ROBOT(LINK, ...)	create from a cell array of LINK objects%	ROBOT(DH, ...)		create from legacy DH matrix%	ROBOT(DYN, ...)		create from legacy DYN matrix%% Optional trailing arguments are:% 	Name			robot type or name% 	Manufacturer		who built it% 	Comment			general comment%% If the legacy matrix forms are used the default name is the workspace% matrix that held the data.%% See also: ROBOT/SUBSREF, ROBOT/SUBSASGN, LINK.% Copyright (C) 1999-2008, 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/>.function r = robot(L, a1, a2, a3)	if nargin == 0		r.name = 'noname';		r.manuf = '';		r.comment = '';		r.link = {};		r.n = 0;		r.mdh = 0;		r.gravity = [0; 0; 9.81];		r.base = eye(4,4);		r.tool = eye(4,4);		r.handle = [];	% graphics handles		r.q = [];	% current joint angles		r.plotopt = {};		r.lineopt = {'Color', 'black', 'Linewidth', 4};		r.shadowopt = {'Color', 'black', 'Linewidth', 1};		r = class(r, 'robot');	elseif isa(L, 'robot')		r = L;		if nargin == 2,			r.link = a1;		end	else		% assume arguments are: name, manuf, comment		if nargin > 1,			r.name = a1;		else			r.name = 'noname';		end		if nargin > 2,			r.manuf = a2;		else			r.manuf = '';		end		if nargin > 3,			r.comment = a3;		else			r.comment = '';		end		if isa(L, 'double')			% legacy matrix			dh_dyn = L;			clear L			for j=1:numrows(dh_dyn)				L{j} = link(dh_dyn(j,:));			end			% get name of variable			r.name = inputname(1);			r.link = L;		elseif iscell(L) & isa(L{1}, 'link')			r.link = L;		else			error('unknown type passed to robot');		end		r.n = length(L);		% set the robot object mdh status flag		mdh = [];		for j = 1:length(L)			mdh = [mdh L{j}.mdh];		end		if all(mdh == 0)			r.mdh = mdh(1);		elseif all (mdh == 1)			r.mdh = mdh(1);		else			error('robot has mixed D&H link conventions');		end		% fill in default base and gravity direction		r.gravity = [0; 0; 9.81];		r.base = eye(4,4);		r.tool = eye(4,4);		r.handle = [];		r.q = [];		r.plotopt = {};		r.lineopt = {'Color', 'black', 'Linewidth', 4};		r.shadowopt = {'Color', 'black', 'Linewidth', 1};		r = class(r, 'robot');	end