Robotnačka v Metaposte - Revision history

Balogh at 10:40, 26 January 2007

2007-01-26T10:40:54Z

Balogh at 10:35, 26 January 2007

2007-01-26T10:35:40Z

Balogh at 10:32, 26 January 2007

2007-01-26T10:32:56Z

New page

Aby sme mohli kresliť pekné obrázky Robotnačky, použijeme Metapost.
Tu je príklad. A tento obrázok je výsledok. [[Image:RobotnackaMpost.png|frame|Robotnačka v Metaposte]]

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%
% This is a simple example how to draw fine pictures of the
% Robotnacka robot for the kinematics modelling.
%
% (c) Richard Balogh, january 2007
% http://www.robotika.sk/
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%
% Uncomment this for use as a standalone picture,
% commented for use in LaTeX.
prologues:=1;

beginfig(1);

% Declarations and definitions

u := 48;

picture Robotnacka; pair P;

% Body of the robot

fill fullcircle scaled 210 withcolor (1,1,0);
draw fullcircle scaled 210 withcolor red;

% Wheels

linecap:=rounded;
pickup pencircle scaled 5;
draw (-25,90)--(25,90);
draw (-25,-90)--(25,-90);
pickup pencircle scaled 1; % Restore original fine point

% Castor wheel

fill fullcircle scaled 30 shifted (-77,0) withcolor .3white;

% Help lines

draw (0,90)--(0,-90);
drawarrow (0,0)--(50,0) withcolor blue;

% Center of the robot:

cu=10;
draw fullcircle scaled cu withcolor red;
path quarterdisk; quarterdisk := quartercircle--origin--cycle;
fill quarterdisk scaled cu withcolor red;
fill quarterdisk scaled cu rotated 180 withcolor red;
draw (cu,0)--(-cu,0);
draw (0,cu)--(0,-cu);

% Start to draw moving robot:

Robotnacka = currentpicture;
clearit;

Theta=45; % Orientation of the robot
P := (5u,7u); % Final point of the robot

addto currentpicture also Robotnacka rotated Theta shifted P;

% Trajectory: :-)

pickup pencircle scaled 2;
drawarrow origin..controls (0,3u) and (2u,0) ..(2u,2u)..{dir45}P withcolor green;

dotlabel.lft("0",origin);

endfig;

end;

@@ Line 1: / Line 1: @@
 Aby sme mohli kresliť pekné obrázky Robotnačky, použijeme Metapost.
-Tu je príklad. A tento obrázok je výsledok. [[Image:RobotnackaMpost.png|frame|Robotnačka v Metaposte]]
+Tu je príklad aj výsledným obrázkom. Preklad:
 <PRE>
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %
+%                                                            %
-% This is a simple example how to draw fine pictures of the
+% This is a simple example how to draw fine pictures of the  %
-% Robotnacka robot for the kinematics modelling.
+% Robotnacka robot for the kinematics modelling.             %
+%                                                            %
-% (c) Richard Balogh, january 2007
+% (c) Richard Balogh, january 2007                           %
-% http://www.robotika.sk/
+% http://www.robotika.sk/                                    %
+%                                                            %
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %
- beginfig(1);
+% Uncomment this for use as a standalone picture, comment for use in LaTeX.
 % Declarations and definitions
-  u := 48;
+   picture Robotnacka;  pair P;     % Variables
+  u := 48;                         % Basic measurement unit
 % Body of the robot
-   fill fullcircle scaled 210 withcolor (1,1,0);
+   fill fullcircle scaled 210 withcolor (1,1,0);  % (r,g,b) = Yellow
    draw fullcircle scaled 210 withcolor red;
@@ Line 34: / Line 34: @@
    linecap:=rounded;
-   pickup pencircle scaled 5;
+   pickup pencircle scaled 5;        % Width of wheels
-   draw (-25,90)--(25,90);
+   draw (-25,90)--(25,90);           % Left wheel
-   draw (-25,-90)--(25,-90);
+   draw (-25,-90)--(25,-90);         % Right wheel
-   pickup pencircle scaled 1;  % Restore original fine point
+   pickup pencircle scaled 1;        % Restore original fine point
 % Castor wheel
@@ Line 62: / Line 62: @@
    Robotnacka = currentpicture;
    clearit;
    Theta=45;       % Orientation of the robot
-   P := (5u,7u);   % Final point of the robot
+   P := (5u,7u);   % Final position of the robot
    addto currentpicture also Robotnacka rotated Theta shifted P;