function varargout = RBInputData(varargin)
% RBINPUTDATA M-file for RBInputData.fig
% RBINPUTDATA, by itself, creates a new RBINPUTDATA or raises the existing
% singleton*.
%
% H = RBINPUTDATA returns the handle to a new RBINPUTDATA or the handle to
% the existing singleton*.
%
% RBINPUTDATA('CALLBACK',hObject,eventData,handles,...) calls the local
% function named CALLBACK in RBINPUTDATA.M with the given input arguments.
%
% RBINPUTDATA('Property','Value',...) creates a new RBINPUTDATA or raises the
% existing singleton*. Starting from the left, property value pairs are
% applied to the GUI before RBInputData_OpeningFcn gets called. An
% unrecognized property name or invalid value makes property application
% stop. All inputs are passed to RBInputData_OpeningFcn via varargin.
%
% *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one
% instance to run (singleton)".
%
% See also: GUIDE, GUIDATA, GUIHANDLES
% Edit the above text to modify the response to help RBInputData
% Last Modified by GUIDE v2.5 25-Nov-2011 17:31:13
% Begin initialization code - DO NOT EDIT
gui_Singleton = 1;
gui_State = struct('gui_Name', mfilename, ...
'gui_Singleton', gui_Singleton, ...
'gui_OpeningFcn', @RBInputData_OpeningFcn, ...
'gui_OutputFcn', @RBInputData_OutputFcn, ...
'gui_LayoutFcn', [] , ...
'gui_Callback', []);
if nargin && ischar(varargin{1})
gui_State.gui_Callback = str2func(varargin{1});
end
if nargout
[varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});
else
gui_mainfcn(gui_State, varargin{:});
end
% End initialization code - DO NOT EDIT
end
% --- Executes just before RBInputData is made visible.
function RBInputData_OpeningFcn(hObject, eventdata, handles, varargin)
% This function has no output args, see OutputFcn.
% hObject handle to figure
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% varargin command line arguments to RBInputData (see VARARGIN)
%set(hObject,'KeyPressFcn',@myCallback);
% Choose default command line output for RBInputData
handles.output = hObject;
% Update handles structure
guidata(hObject, handles);
% UIWAIT makes RBInputData wait for user response (see UIRESUME)
% uiwait(handles.figure1);
set(handles.popupmenu1, 'Value', 2 )
global st tr
set(handles.edit1,'String','1');
TOP.md = 1;
set(handles.edit6,'String','1');
TOP.mL = 1;
set(handles.edit7,'String','2');
TOP.d = 2;
set(handles.edit8,'String','2');
TOP.L = 2;
TOP.m = 1;
TOP.a = 2;
TOP.b = 2;
set(handles.edit9,'String','0.1');
TOP.c = 0.1;
k = pi / 180;
set(handles.edit25,'String','30');
TOP.theta = 30 * k;
set(handles.edit26,'String','0');
TOP.phi = 0 * k;
set(handles.edit27,'String','0');
TOP.psi = 0 * k;
set(handles.edit34,'String','0');
TOP.dtheta = 0;
set(handles.edit35,'String','0');
TOP.dphi = 0;
set(handles.edit36,'String','40');
TOP.dpsi = 40;
TOP.q0 = [ 0, 0, 40 ];
set(handles.edit16,'String','0');
set(handles.edit17,'String','0');
set(handles.edit18,'String','1');
TOP.rc = [ 0, 0, 1 ];
set(handles.edit39,'String','9.81');
TOP.g = 9.81;
set(handles.edit44,'String','60');
set(handles.edit49,'String','0.001');
TOP.T = 60;
TOP.dt = 0.001;
TOP.n = floor(TOP.T / TOP.dt);
st = set_st(st, TOP );
set(handles.edit40,'String','0');
set(handles.edit41,'String','0');
set(handles.edit42,'String','2');
TR.point = [ 0, 0, 2, 1]';
V(4,TOP.n) = 0;
TR.trajectory = V;
set(handles.edit50,'String','500');
set(handles.edit51,'String','10');
TR.tr_L = 500;
TR.tr_S = 10;
tr = set_tr(tr, TR);
end
function myCallback(src,eventdata)
myhandles = guidata(gcbo);
myhandles.ApplyButton;
set(myhandles.ApplyButton, 'BackgroundColor', [1, 0, 0]);
end
function varargout = RBInputData_OutputFcn(hObject, eventdata, handles)
% varargout cell array for returning output args (see VARARGOUT);
% hObject handle to figure
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Get default command line output from handles structure
varargout{1} = handles.output;
fn = fieldnames(handles);
for k = 1:length(fn)
if ~ isempty(strfind(fn{k}, 'edit'))
set(getfield(handles, fn{k}),'KeyPressFcn',@myCallback);
end
end
% create structure of handles
myhandles = guihandles(handles.figure1);
% add some additional data
myhandles.ApplyButton = handles.pushbutton2;
% save the structure
guidata(handles.figure1,myhandles) ;
end
% --- Executes on selection change in popupmenu1.
function popupmenu1_Callback(hObject, eventdata, handles)
% hObject handle to popupmenu1 (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: contents = get(hObject,'String') returns popupmenu1 contents as cell array
% contents{get(hObject,'Value')} returns selected item from popupmenu1
function st_switch_at(x)
switch x
case 'st'
set(handles.edit9,'Visible', 'off')
set(handles.text9,'Visible', 'off')
set(handles.edit6,'Visible', 'on')
set(handles.text6,'Visible', 'on')
set(handles.text1,'String', 'md')
set(handles.text7,'String', 'd')
set(handles.text8,'String', 'L')
case 'at'
set(handles.edit9,'Visible', 'on')
set(handles.text9,'Visible', 'on')
set(handles.edit6,'Visible', 'off')
set(handles.text6,'Visible', 'off')
set(handles.text1,'String', 'm')
set(handles.text7,'String', 'a')
set(handles.text8,'String', 'b')
end
end
set_ = [ 2 3 4 8 9 10];
function set_RB(x)
example_ = get_example(x);
if ismember(x, set_)
set(handles.edit1,'String',num2str(example_.md));
set(handles.edit6,'String',num2str(example_.mL));
set(handles.edit7,'String',num2str(example_.d));
set(handles.edit8,'String',num2str(example_.L));
else
set(handles.edit1,'String',num2str(example_.m));
set(handles.edit7,'String',num2str(example_.a));
set(handles.edit8,'String',num2str(example_.b));
set(handles.edit9,'String',num2str(example_.c));
end
set(handles.edit25,'String',num2str(example_.theta));
set(handles.edit26,'String',num2str(example_.phi));
set(handles.edit27,'String',num2str(example_.psi));
set(handles.edit34,'String',num2str(example_.qx));
set(handles.edit35,'String',num2str(example_.qy));
set(handles.edit36,'String',num2str(example_.qz));
set(handles.edit16,'String',num2str(example_.rx));
set(handles.edit17,'String',num2str(example_.ry));
set(handles.edit18,'String',num2str(example_.rz));
set(handles.edit40,'String',num2str(example_.px));
set(handles.edit41,'String',num2str(example_.py));
set(handles.edit42,'String',num2str(example_.pz));
set(handles.edit44,'String',num2str(example_.T));
set(handles.edit49,'String',num2str(example_.dt));
set(handles.edit39,'String',num2str(example_.g));
set(handles.edit50,'String',num2str(example_.tr_L));
set(handles.edit51,'String',num2str(example_.tr_S));
end
popup_sel_index = get(handles.popupmenu1, 'Value');
if ismember(popup_sel_index, set_)
st_switch_at('st');
else
st_switch_at('at');
end
set_RB(popup_sel_index);
myhandles = guidata(gcbo);
set(myhandles.ApplyButton, 'BackgroundColor', [1, 0, 0]);
end
% --- Executes on button press in pushbutton2.
function pushbutton2_Callback(hObject, eventdata, handles)
% hObject handle to pushbutton2 (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
global st at
global tr
global copy_1 copy_2
k = pi / 180;
TOP.theta = k * str2double(get(handles.edit25,'String'));
TOP.phi = k * str2double(get(handles.edit26,'String'));
TOP.psi = k * str2double(get(handles.edit27,'String'));
TOP.dtheta = str2double(get(handles.edit34,'String'));
TOP.dphi = str2double(get(handles.edit35,'String'));
TOP.dpsi = str2double(get(handles.edit36,'String'));
TOP.rc = [ str2double(get(handles.edit16,'String')), str2double(get(handles.edit17,'String')), str2double(get(handles.edit18,'String')) ];
TOP.g = str2double(get(handles.edit39,'String')) ;
TOP.T = str2double(get(handles.edit44,'String')) ;
TOP.dt = str2double(get(handles.edit49,'String')) ;
TOP.n = floor(TOP.T / TOP.dt);
TOP.md = str2double(get(handles.edit1,'String'));
TOP.mL = str2double(get(handles.edit6,'String'));
TOP.d = str2double(get(handles.edit7,'String'));
TOP.L = str2double(get(handles.edit8,'String'));
TOP.m = str2double(get(handles.edit1,'String'));
TOP.a = str2double(get(handles.edit7,'String'));
TOP.b= str2double(get(handles.edit8,'String'));
TOP.c = str2double(get(handles.edit9,'String'));
popup_sel_index = get(handles.popupmenu1, 'Value');
set_ = [ 2 3 4 8 9 10 ];
if ismember(popup_sel_index, set_)
st = set_st(st, TOP );
copy_1 = st;
else
at = set_at(at, TOP );
copy_1 = at;
end
if isobject(copy_2) && ( isequal(get_rb(copy_1,'all_recalculation_need'),...
get_rb(copy_2,'all_recalculation_need')) )
else
handle_1 = findobj('UserData','Calculate');
set(handle_1, 'BackgroundColor', [1 0 0] );
handle_2 = findobj('UserData','Done');
set(handle_2, 'String', '' );
end
copy_2= copy_1;
TR.point = [ str2double(get(handles.edit40,'String')), str2double(get(handles.edit41,'String')), str2double(get(handles.edit42,'String')), 1 ]';
V(4,TOP.n) = 0;
TR.trajectory = V;
TR.tr_L = str2double(get(handles.edit50,'String'));
TR.tr_S = str2double(get(handles.edit51,'String'));
tr = set_tr(tr, TR);
set(get(RBInterface,'CurrentAxes'), 'xlim', [-2 2] );
set(get(RBInterface,'CurrentAxes'), 'ylim', [-2 2] );
set(get(RBInterface,'CurrentAxes'), 'zlim', [-3 3] );
text(-0.1, 0 ,'#','Color','black');
myhandles = guidata(gcbo);
set(myhandles.ApplyButton, 'BackgroundColor', [1, 1, 1]);
end
% --- Executes on button press in pushbutton1.
function pushbutton1_Callback(hObject, eventdata, handles)
% hObject handle to pushbutton1 (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
open('List_of_symbols.html');
end
function edit25_Callback(hObject, eventdata, handles)
% hObject handle to edit25 (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of edit25 as text
% str2double(get(hObject,'String')) returns contents of edit25 as a double
str = get(hObject,'String');
[x status] = str2num(str);
handle_ = findobj('UserData','Calculate');
if status == 0
msgbox('Only numbers are alowed.', 'RBMessage', 'modal');
set(hObject,'BackgroundColor','Red');
set(handle_, 'Enable', 'off');
set(handles.pushbutton2, 'Enable', 'off');
else
set(hObject,'BackgroundColor','White');
set(handle_, 'Enable', 'on');
set(handles.pushbutton2, 'Enable', 'on');
end
end
function edit49_Callback(hObject, eventdata, handles)
% hObject handle to edit49 (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of edit49 as text
% str2double(get(hObject,'String')) returns contents of edit49 as a double
str = get(hObject,'String');
[x status] = str2num(str);
handle_ = findobj('UserData','Calculate');
if status == 0
msgbox('Only numbers are alowed.', 'RBMessage', 'modal');
set(hObject,'BackgroundColor','Red');
set(handle_, 'Enable', 'off');
set(handles.pushbutton2, 'Enable', 'off');
else
if abs(x) > 0.1 || x<=0
msgbox('dt must be positive and less than 0.1 ', 'RBMessage', 'modal');
set(hObject,'BackgroundColor','Red');
set(handle_, 'Enable', 'off');
set(handles.pushbutton2, 'Enable', 'off');
else
set(hObject,'BackgroundColor','White');
set(handle_, 'Enable', 'on');
set(handles.pushbutton2, 'Enable', 'on');
end
end
end
function edit44_Callback(hObject, eventdata, handles)
% hObject handle to edit44 (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of edit44 as text
% str2double(get(hObject,'String')) returns contents of edit44 as a double
str = get(hObject,'String');
[x status] = str2num(str);
handle_ = findobj('UserData','Calculate');
if status == 0
msgbox('Only numbers are alowed.', 'RBMessage', 'modal');
set(hObject,'BackgroundColor','Red');
set(handle_, 'Enable', 'off');
set(handles.pushbutton2, 'Enable', 'off');
else
if x<=0
msgbox('T must be positive', 'RBMessage', 'modal');
set(hObject,'BackgroundColor','Red');
set(handle_, 'Enable', 'off');
set(handles.pushbutton2, 'Enable', 'off');
else
set(hObject,'BackgroundColor','White');
set(handle_, 'Enable', 'on');
set(handles.pushbutton2, 'Enable', 'on');
end
end
end
