Algorithm (Workflow)

This algorithm is a MATLAB function named PosesampleWalk that integrates a pose sample into a Posesample object. It is part of the SolidGeometry library and is used for kinematics and frames.

Input Parameters

The function does not take any input parameters directly. It operates on predefined values and functions within the script.

Output

The function returns a structure PS, which is a Posesample object containing specific fields related to pose samples.

Algorithm Steps

1. Call the function Posesample(12) to initialize or retrieve a Posesample object. The result is stored in the variable PS.
2. Create a square using the function PLsquare(80,40) and translate it by adding the vector [15 70]. This result is stored in CPLM.
3. Create two squares using PLsquare(200,80) and PLsquare(200,10), translating them by [15 60] and [15 -10] respectively. Combine these with a nan nan separator to form CPLW.
4. Assign CPLM and CPLW to the corresponding fields in the PS structure.
5. Call stripfields(PS,'A0L','B0L','GAL') to remove specified fields from the PS structure.
6. Use SGfigure to create a new figure window.
7. Plot the pose space and the pose using Poseplotspace(PS) and Poseplot(PS).
8. Commented out lines suggest plotting CPLM and CPLW with specific colors, but these are not executed in the current script.

Functions Used

• Posesample: Initializes or retrieves a Posesample object.
• PLsquare: Creates a square with specified dimensions.
• stripfields: Removes specified fields from a structure.
• SGfigure: Opens a new figure window for plotting.
• Poseplotspace and Poseplot: Plot the pose space and pose respectively.