CPLofPosefourbarshaping

by Tim C. Lueth, SG-Lib Toolbox: SolidGeometry 5.6 - 4Bar/Linkages
Introduced first in SolidGeometry 4.6, Creation date: 2019-06-03, Last change: 2025-09-14

returns collision free path shaped contour for a specific fourbar linkage

Description

This is a full implementation of original Posefourbarshaping introduced SG-Lib in 4.5

See Also:

Example Illustration

missing image of CPLofPosefourbarshaping(PS,aps,SCPL,rel,XCPLW,XCPLA,XCPLR,XCPL1)

Syntax

CPL=CPLofPosefourbarshaping(PS,[aps,SCPL,rel,XCPLW,XCPLA,XCPLR,XCPL1])

Input Parameter

PS: Pose and fourbar linkage struct including GPL and GAL
aps: [solution, limiting order]
SCPL: Contour to shape
rel: CPL is moved relative to 'P'ose, 'C'rank, or 'Swing' or 'WORLD'
XCPLW: Static obstacles in the environment
XCPLA: Obstacle contours attached to Pose
XCPLR: Obstacle contour moved with crank
XCPL1: Obstacle contour moved with swing

Output Parameter

CPL: Collision free contour

Examples


PosereadAPD('/Volumes/LUETH-WIN/MATLAB_files_for_experiments/basecabinet_new.APD');PS=ans;
PS=checkfourbar3Poseattachpermutation(PS,'',20)
PS.CPLE=CPLfillinside(PS.CPLE);
CPLofPosefourbarshaping(PS,[546]) % Full path of the fourbar
CPLofPosefourbarshaping(PS,[546,123]) % limited to poses 123
%% TRY WITH 546 and 153
CPLofPosefourbarshaping(PS,[546,123],'','E',''); PS.CPLE=ans; % Shape of effektor
CPLofPosefourbarshaping(PS,[546,123],'','C','',PS.CPLE); PS.CPLC=ans; % Shape of crank
CPLofPosefourbarshaping(PS,[546,123],'','S','',PS.CPLE,PS.CPLC); PS.CPLS=ans; % Shape of swing
CPLofPosefourbarshaping(PS,[546,123],'','W','',PS.CPLE,PS.CPLC,PS.CPLS); % Work Space



Copyright 2019-2025 Tim C. Lueth. All rights reserved. The code is the property of Tim C. Lueth and may not be redistributed or modified without explicit written permission. This software may be used free of charge for academic research and teaching purposes only. Commercial use, redistribution, modification, or reverse engineering is strictly prohibited. Access to source code is restricted and granted only under specific agreements. For licensing inquiries or commercial use, please contact: Tim C. Lueth

Last html export of this page out of FM database by TL: 2025-09-21