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

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.

[RobF]

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]

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]

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]

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]

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]

>> 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]

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.

Answer 1

[Walter Roberson]

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.

Answer 2

[Damian]

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.