基于V-REP和MATLAB的七自由度机械臂跟踪控制

classdef remApi properties libName; hFile; end properties (Constant) % Scene object types sim_object_shape_type =0; sim_object_joint_type =1; sim_object_graph_type =2; sim_object_camera_type =3; sim_object_dummy_type =4; sim_object_proximitysensor_type =5; sim_object_reserved1 =6; sim_object_reserved2 =7; sim_object_path_type =8; sim_object_visionsensor_type =9; sim_object_volume_type =10; sim_object_mill_type =11; sim_object_forcesensor_type =12; sim_object_light_type =13; sim_object_mirror_type =14; %General object types sim_appobj_object_type =109; sim_appobj_collision_type =110; sim_appobj_distance_type =111; sim_appobj_simulation_type =112; sim_appobj_ik_type =113; sim_appobj_constraintsolver_type=114; sim_appobj_collection_type =115; sim_appobj_ui_type =116; sim_appobj_script_type =117; sim_appobj_pathplanning_type =118; sim_appobj_RESERVED_type =119; sim_appobj_texture_type =120; % Ik calculation methods sim_ik_pseudo_inverse_method =0; sim_ik_damped_least_squares_method =1; sim_ik_jacobian_transpose_method =2; % Ik constraints sim_ik_x_constraint =1; sim_ik_y_constraint =2; sim_ik_z_constraint =4; sim_ik_alpha_beta_constraint=8; sim_ik_gamma_constraint =16; sim_ik_avoidance_constraint =64; % Ik calculation results sim_ikresult_not_performed =0; sim_ikresult_success =1; sim_ikresult_fail =2; % Scene object sub-types sim_light_omnidirectional_subtype =1; sim_light_spot_subtype =2; sim_light_directional_subtype =3; sim_joint_revolute_subtype =10; sim_joint_prismatic_subtype =11; sim_joint_spherical_subtype =12; sim_shape_simpleshape_subtype =20; sim_shape_multishape_subtype =21; sim_proximitysensor_pyramid_subtype =30; sim_proximitysensor_cylinder_subtype=31; sim_proximitysensor_disc_subtype =32; sim_proximitysensor_cone_subtype =33; sim_proximitysensor_ray_subtype =34; sim_mill_pyramid_subtype =40; sim_mill_cylinder_subtype =41; sim_mill_disc_subtype =42; sim_mill_cone_subtype =42; sim_object_no_subtype =200; %Scene object main properties sim_objectspecialproperty_collidable =1; sim_objectspecialproperty_measurable =2; sim_objectspecialproperty_detectable_ultrasonic =16; sim_objectspecialproperty_detectable_infrared =32; sim_objectspecialproperty_detectable_laser =64; sim_objectspecialproperty_detectable_inductive =128; sim_objectspecialproperty_detectable_capacitive =256; sim_objectspecialproperty_renderable =512; sim_objectspecialproperty_detectable_all =496; sim_objectspecialproperty_cuttable =1024; sim_objectspecialproperty_pathplanning_ignored =2048; % Model properties sim_modelproperty_not_collidable =1; sim_modelproperty_not_measurable =2; sim_modelproperty_not_renderable =4; sim_modelproperty_not_detectable =8; sim_modelproperty_not_cuttable =16; sim_modelproperty_not_dynamic =32; sim_modelproperty_not_respondable =64; sim_modelproperty_not_reset =128; sim_modelproperty_not_visible =256; sim_modelproperty_not_model =61440; % Check the documentation instead of comments below!! sim_message_ui_button_state_change =0; sim_message_reserved9 =1; sim_message_object_selection_changed=2; sim_message_reserved10 =3; sim_message_model_loaded =4; sim_message_reserved11 =5; sim_message_keypress =6; sim_message_bannerclicked =7; sim_message_for_c_api_only_start =256; sim_message_reserved1 =257; sim_message_reserved2 =258; sim_message_reserved3 =259; sim_message_eventcallback_scenesave =260; sim_message_eventcallback_modelsave =261; sim_message_eventcallback_moduleopen =262; sim_message_eventcallback_modulehandle =263; sim_message_eventcallback_moduleclose =264; sim_message_reserved4 =265; sim_message_reserved5 =266; sim_message_reserved6 =267; sim_message_reserved7 =268; sim_message_eventcallback_instancepass =269; sim_message_eventcallback_broadcast =270; sim_message_eventcallback_imagefilter_enumreset =271; sim_message_eventcallback_imagefilter_enumerate =272; sim_message_eventcallback_imagefilter_adjustparams =273; sim_message_eventcallback_imagefilter_reserved =274; sim_message_eventcallback_imagefilter_process =275; sim_message_eventcallback_reserved1 =276; sim_message_eventcallback_reserved2 =277; sim_message_eventcallback_reserved3 =278; sim_message_eventcallback_reserved4 =279; sim_message_eventcallback_abouttoundo =280; sim_message_eventcallback_undoperformed =281; sim_message_eventcallback_abouttoredo =282; sim_message_eventcallback_redoperformed =283; sim_message_eventcallback_scripticondblclick =284; sim_message_eventcallback_simulationabouttostart =285; sim_message_eventcallback_simulationended =286; sim_message_eventcallback_reserved5 =287; sim_message_eventcallback_keypress =288; sim_message_eventcallback_modulehandleinsensingpart =289; sim_message_eventcallback_renderingpass =290; sim_message_eventcallback_bannerclicked =291; sim_message_eventcallback_menuitemselected =292; sim_message_eventcallback_refreshdialogs =293; sim_message_eventcallback_sceneloaded =294; sim_message_eventcallback_modelloaded =295; sim_message_eventcallback_instanceswitch =296; sim_message_eventcallback_guipass =297; sim_message_eventcallback_mainscriptabouttobecalled =298; sim_message_eventcallback_rmlposition =299; sim_message_eventcallback_rmlvelocity =300; sim_message_simulation_start_resume_request =4096; sim_message_simulation_pause_request =4097; sim_message_simulation_stop_request =4098; % Scene object properties