How to get data values from struct and save it in struct

2018 1 23
2 个回答
更新时间：2018 1 24
1 次查看（30 天）

0 个投票

Hi all. First define what is rpoint, and rset: rpoint is from Robotic Toolbox funciton that define robot-positions with coordinates and motion-properties. rset sets up interpreter-, toolbox- and motion-properties
Syntax:
Point = rpoint( x,y,z,o,a,t, 'pose', 'RELATION', 'INTERPOLATION',['PROPERTY', VALUE ])
Example :
Point = rpoint(177.957,349.963,-229.418,15.983,179.610,-162.582)
Syntax:
ID = rset( HANDLE, 'PROPERTY', VALUE, ['now'])
Example:
rset( HANDLE, 'base', rpoint(10,10,10,0,0,0) );
rpoint documentation
I need to get values from struct and put them into code line, like this:
Kawasaki = 1; % HANDLE
getPoseValue = [Pose.x,Pose.y,Pose.z,Pose.o,Pose.t,Pose.j1,Pose.j2,Pose.j3,Pose.j4,Pose.j5,Pose.j6,Pose.poscfg,Pose.typ,Pose.move,Pose.signal,Pose.pulse,Pose.speed,Pose.acceleration,Pose.deceleration,Pose.accuracy,Pose.wait];
temp = num2cell(getPoseValue);
rset( Kawasaki, 'base', rpoint(temp{:}) );
But it does not work well:
Struct contents reference from a non-struct array object.
Error in rset
Error in testtt (line 4)
rset( Kawasaki, 'base', rpoint(temp{:}) );
I need to get values from struct and put them into code line, like this:
It will help me with getting the actual pose and defines is as base.
If anyone can help with this I'll be gratefull.

7 个评论
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RobF
RobF 2018-1-23
Hello Damian,
can you provide the source of the documentation? I have installed the Robotics System Toolbox but cannot find the command in the documentation. Which Matlab version are you using?
Damian
Damian 2018-1-23
编辑：Damian 2018-1-23
The source is here:
Robotic-Toolbox.zip
But you must have login and password to download it. I'll have but i don't have permission to share it with you. Here i can show you help_files with i uploaded to my private google drive folder:
help_files
RobF
RobF 2018-1-23
Sorry, but I hope you understand I am not going to open .rar-files from private Google drives. I think your call of the rpoint function is not working well since the arguments do not correspond to the required input arguments.
Error in testtt (line 4)
rset( Kawasaki, 'base', rpoint(temp{:}) );
You might want to try the following:
Point = rpoint(Pose.x, Pose.y, Pose.z, Pose.o, Pose.a, Pose.t,...
'pose',...
'RELATION',...
'INTERPOLATION',...
['PROPERTY', VALUE ]);
rset(Kawasaki, 'base', Point);
Damian
Damian 2018-1-23
Answer to this is:
Point = rpoint(Pose.x,Pose.y,Pose.z,Pose.o,Pose.a,Pose.t);
rset( Kawasaki, 'base', Point);
but still i can't set rset:
Struct contents reference from a non-struct array object.
Error in rset
Error in testtt (line 3)
rset( Kawasaki, 'base', Point);
Walter Roberson
Walter Roberson 2018-1-23
What shows up for class(Point) ?
Could you check in case Pose.x or .y or .z or .o or .a or .t are not scalars ?
Damian
Damian 2018-1-23
>> class(Point)
ans =
'struct'
>> class(Pose.x)
ans =
'double'
>> class(Pose.y)
ans =
'double'
>> class(Pose.z)
ans =
'double'
>> class(Pose.o)
ans =
'double'
Walter Roberson
Walter Roberson 2018-1-24
You could try
dbstop if caught error
and run, which might get you into the debugger at the line in rset that is complaining; from there you might be able to trace back to see what it is trying to access and where that variable came from.

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回答（2 个）

Walter Roberson
Walter Roberson 2018-1-23

1 个投票

rpoint can take at most 6 numeric parameters before it needs 'pose' followed by a string representing a relationship followed by a string representing an interpolation, with name/value pairs after that. You are passing in something like 20 numeric parameters instead. I suspect that rpoint is failing and is returning [] instead of the structure that rset expects.
Damian
Damian 2018-1-24

0 个投票

OK, the main problem was that rset works ok only with true robot connection. Today I installed KAWASAKI-Visualization Toolbox for Matlab with Virtual Robot and i made an virtual connection.
Point = rpoint(Pose.x,Pose.y,Pose.z,Pose.o,Pose.a,Pose.t);
rset( Kawasaki, 'base', Point);
Thank you all for taking the time for me.

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Damian
Damian
2018-1-23

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Damian
Damian
2018-1-24

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