ghers_fggb asked . 2021-03-25

How can I augment a toolbox to improve its capabilities?

% Pre-populate settings for different axis orderings
% Each setting has 4 values:
%   1. firstAxis : The right-most axis of the rotation order. Here, X=1,
%      Y=2, and Z=3.
%   2. repetition : If the first axis and the last axis are equal in
%      the sequence, then repetition = 1; otherwise repetition = 0.
%   3. parity : Parity is 0 if the right two axes in the sequence are
%      YX, ZY, or XZ. Otherwise, parity is 1.
%   4. movingFrame : movingFrame = 1 if the rotations are with
%      reference to a moving frame. Otherwise (in the case of a static
%      frame), movingFrame = 0.
seqSettings.ZYX = [1, 0, 0, 1];
seqSettings.YZX = [1, 0, 1, 1]; % ADDED
seqSettings.XYX = [1, 1, 0, 1]; % ADDED
seqSettings.XZX = [1, 1, 1, 1]; % ADDED
seqSettings.XZY = [2, 0, 0, 1]; % ADDED
seqSettings.ZXY = [2, 0, 1, 1]; % ADDED
seqSettings.YZY = [2, 1, 0, 1]; % ADDED
seqSettings.YXY = [2, 1, 1, 1]; % ADDED
seqSettings.YXZ = [3, 0, 0, 1]; % ADDED
seqSettings.XYZ = [3, 0, 1, 1];
seqSettings.ZXZ = [3, 1, 0, 1]; % ADDED
seqSettings.ZYZ = [3, 1, 1, 1];

simulink , matlab , simulation , robotics