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author | Karl Berry <karl@freefriends.org> | 2022-03-09 21:28:02 +0000 |
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committer | Karl Berry <karl@freefriends.org> | 2022-03-09 21:28:02 +0000 |
commit | 85bd1c289742f6379fa707d6d6920d680fdc015e (patch) | |
tree | d0181bd764cca39f0d24d236d2b9d7912183dc25 /Master/texmf-dist/tex | |
parent | 10ae2d1c83051e7725f8cc81ef135f248a35a611 (diff) |
robotarm (9mar22) (branch)
git-svn-id: svn://tug.org/texlive/branches/branch2021.final@62567 c570f23f-e606-0410-a88d-b1316a301751
Diffstat (limited to 'Master/texmf-dist/tex')
-rw-r--r-- | Master/texmf-dist/tex/latex/robotarm/robotarm.sty | 375 |
1 files changed, 375 insertions, 0 deletions
diff --git a/Master/texmf-dist/tex/latex/robotarm/robotarm.sty b/Master/texmf-dist/tex/latex/robotarm/robotarm.sty new file mode 100644 index 00000000000..5fb7f730aa4 --- /dev/null +++ b/Master/texmf-dist/tex/latex/robotarm/robotarm.sty @@ -0,0 +1,375 @@ +%% +%% This is file `robotarm.sty', +%% generated with the docstrip utility. +%% +%% The original source files were: +%% +%% robotarm.dtx (with options: `robotarm-package') +%% +%% This is a generated file. +%% +%% Copyright (C) 2021 by M.J.W. Snippe +%% ----------------------------------- +%% +%% This file may be distributed and/or modified under the +%% conditions of the LaTeX Project Public License, either +%% version 1.3 of this license or (at your option) any later +%% version. The latest version of this license is in: +%% +%% http://www.latex-project.org/lppl.txt +%% +%% and version 1.3 or later is part of all distributions of +%% LaTeX version 2005/12/01 or later. +%% +%% This work has the LPPL maintenance status +%% `author-maintained'. +%% +%% This work consists of the files found at github.com/max-sn/robotarm. +%% +\NeedsTeXFormat{LaTeX2e} +\ProvidesPackage{robotarm} + [2022/03/08 v0.1 Tikz commands to draw planar robot arms] + +\RequirePackage{tikz} + +\usetikzlibrary{patterns} + +\makeatletter + +\newif\ifRA@robotarm@drawannotations + +\pgfkeys{ + /robotarm/base link/.cd, + width/.code={\pgfmathsetmacro\RA@baselink@width{#1}}, + width=0.6, + height/.code={\pgfmathsetmacro\RA@baselink@height{#1}}, + height=0.3, + world width/.code={\pgfmathsetmacro\RA@baselink@worldwidth{#1}}, + world width=1.0, + world height/.code={\pgfmathsetmacro\RA@baselink@worldheight{#1}}, + world height=0.3, + draw base link/.code={% + \path[link style] + (-1/2*\RA@baselink@width,0) + arc (180:0:1/2*\RA@baselink@width) + -- ++ (0, -\RA@baselink@height) + -- ++ (-\RA@baselink@width, 0) + -- cycle; + }, + draw world/.code={% + \path[world style] + (-1/2*\RA@baselink@worldwidth,-\RA@baselink@height) + arc (180:360:{1/2*\RA@baselink@worldwidth} + and {\RA@baselink@worldheight}) -- cycle; + \path[draw, world style] + (-1/2*\RA@baselink@worldwidth,-\RA@baselink@height) + -- ++(\RA@baselink@worldwidth,0); + }, + /robotarm/link/.cd, + width/.code={\pgfmathsetmacro\RA@link@width{#1}}, + width=0.4, + length/.code={\pgfmathsetmacro\RA@link@length{#1}}, + length=2.0, + joint radius/.code={\pgfmathsetmacro\RA@link@jointradius{#1}}, + joint radius=0.25, + draw link/.code={% + \path[link style] + (0,1/2*\RA@link@width) + -- ++ ( \RA@link@length, 0) + arc (90:-90:1/2*\RA@link@width) + -- ++ (-\RA@link@length, 0) + arc (270:90:1/2*\RA@link@width) + -- cycle; + }, + draw joint/.code={% + \path[link style] + (0,0) circle (\RA@link@jointradius); + \path[link style] + (0,0) circle (1/3*\RA@link@jointradius); + }, + /robotarm/end effector/.cd, + width/.code={\pgfmathsetmacro\RA@endeff@width{#1}}, + width=0.4, + length/.code={\pgfmathsetmacro\RA@endeff@length{#1}}, + length=2, + joint radius/.code={\pgfmathsetmacro\RA@endeff@jointradius{#1}}, + joint radius=0.25, + gripper radius/.code={\pgfmathsetmacro\RA@endeff@gripperradius{#1}}, + gripper radius=0.3, + gripper opening angle/.code={% + \pgfmathsetmacro\RA@endeff@gripperopeningangle{#1}}, + gripper opening angle=60, + draw joint/.code={% + \path[link style] + (0,0) circle (\RA@endeff@jointradius); + \path[link style] + (0,0) circle (1/3*\RA@endeff@jointradius); + }, + draw link/.code={% + \pgfmathsetmacro{\link@startangle}{% + 180-asin(1/2*\RA@endeff@width/\RA@endeff@gripperradius)} + \pgfmathsetmacro{\link@endangle}{% + 180+asin(1/2*\RA@endeff@width/\RA@endeff@gripperradius)} + + \path[link style] + (\RA@endeff@length, 0) + ++ (\link@startangle:\RA@endeff@gripperradius) + arc (\link@startangle:\link@endangle:\RA@endeff@gripperradius) + -- (0,0|-0,-1/2*\RA@endeff@width) + arc (-90:90:1/2*\RA@endeff@width) + -- cycle; + }, + draw end effector/.code={ + \draw[link style] + (\RA@endeff@length, 0) + ++ (-1/2*\RA@endeff@gripperopeningangle:% + \RA@endeff@gripperradius) + arc [start angle=-1/2*\RA@endeff@gripperopeningangle, + delta angle=-360+\RA@endeff@gripperopeningangle, + radius=\RA@endeff@gripperradius] + -- ++(180+1/2*\RA@endeff@gripperopeningangle:% + 0.4*\RA@endeff@gripperradius) + arc [start angle=1/2*\RA@endeff@gripperopeningangle, + delta angle=360-\RA@endeff@gripperopeningangle, + radius=0.6*\RA@endeff@gripperradius] + -- ++(-1/2*\RA@endeff@gripperopeningangle:% + 0.4*\RA@endeff@gripperradius) + -- cycle; + }, + /robotarm/.cd, + draw annotations/.is if=RA@robotarm@drawannotations, + draw annotations=true, + every annotation/.style={}, + every length annotation/.style={}, + every length annotation arrow/.style={draw,->}, + every length annotation node/.style={circle,inner sep=0.5pt}, + every length annotation help line/.style={draw,help lines}, + every angle annotation/.style={}, + every angle annotation arrow/.style={draw,->}, + every angle annotation node/.style={}, + every angle annotation help line/.style={draw,help lines}, + base link/.code=\pgfkeys{/robotarm/base link/.cd,#1}, + link/.code=\pgfkeys{/robotarm/link/.cd,#1}, + end effector/.code=\pgfkeys{/robotarm/end effector/.cd,#1}, + geometry/.code=\pgfkeys{/robotarm/geometry/.cd,#1}, + config/.code=\pgfkeys{/robotarm/config/.cd,#1}, + spacing/.code=\pgfkeys{/robotarm/annotations/spacing/.cd,#1}, + labels/.code=\pgfkeys{/robotarm/annotations/labels/.cd,#1}, + styles/.code=\pgfkeys{/robotarm/styles/.cd,#1}, + /robotarm/geometry/.cd, + a0/.initial=0, + a/.initial=2, + r/.initial=0.25, + w/.initial=0.4, + /robotarm/config/q/.initial=0, + /robotarm/frames/.cd, + in link 0/.style={}, + in end effector/.style={ + /robotarm/frames/in link \RA@robotarm@numlinks, + shift={% + (\pgfkeysvalueof{/robotarm/geometry/a\RA@robotarm@numlinks},0)}, + }, + in world/.style={ + shift={(0,-\RA@baselink@height)} + }, + /robotarm/styles/.cd, + world/.style={pattern=north west lines}, + link/.style={ + draw, + fill=lightgray, + }, + link 0/.style={/robotarm/styles/link}, + /robotarm/annotations/.cd, + spacing/.cd, + a/.initial=3, + q/.initial=1/2, + /robotarm/annotations/.cd, + labels/.cd, + a/.initial=a, + q/.initial=q, +} +\tikzset{ + link style/.style={/robotarm/styles/link}, + world style/.style={/robotarm/styles/world}, +} +\newcommand\robotarmset[1]{% + \pgfkeys{/robotarm/.cd,#1}% +} +\newcommand\robotArmLink[1][]{ + \begingroup + \pgfkeys{/robotarm/link/.cd,#1} + + \pgfkeys{/robotarm/link/draw link} + \pgfkeys{/robotarm/link/draw joint} + \endgroup +} +\newcommand\robotArmEndEffector[1][]{ + \begingroup + \pgfkeys{/robotarm/end effector/.cd,#1} + + \pgfkeys{/robotarm/end effector/draw link} + \pgfkeys{/robotarm/end effector/draw joint} + \pgfkeys{/robotarm/end effector/draw end effector} + + \endgroup +} +\newcommand\robotArmBaseLink[1][]{ + \begingroup + \pgfkeys{/robotarm/base link/.cd,#1} + + \pgfkeys{/robotarm/base link/draw world} + \pgfkeys{/robotarm/base link/draw base link} + \endgroup +} +\newcommand\robotArm[2][]{ + \pgfmathtruncatemacro\RA@robotarm@numlinks{#2} + \def\@tmpkeys{} + \foreach \@link [remember=\@link as \@prevlink (initially 0)] in % + {1,...,\RA@robotarm@numlinks}{ + \xdef\@tmpkeys{\@tmpkeys% + /robotarm/geometry/a\@link/.initial=% + \pgfkeysvalueof{/robotarm/geometry/a},% + /robotarm/geometry/r\@link/.initial=% + \pgfkeysvalueof{/robotarm/geometry/r},% + /robotarm/geometry/w\@link/.initial=% + \pgfkeysvalueof{/robotarm/geometry/w},% + /robotarm/config/q\@link/.initial=% + \pgfkeysvalueof{/robotarm/config/q},% + /robotarm/styles/link \@link/.style={/robotarm/styles/link},% + /robotarm/annotations/labels/a\@link/.initial={% + $\pgfkeysvalueof{/robotarm/annotations/labels/a}_{\@link}$},% + /robotarm/annotations/labels/q\@link/.initial={% + $\pgfkeysvalueof{/robotarm/annotations/labels/q}_{\@link}$},% + /robotarm/annotations/spacing/a\@link/.initial={% + \pgfkeysvalueof{/robotarm/annotations/spacing/a}},% + /robotarm/annotations/spacing/q\@link/.initial={% + \pgfkeysvalueof{/robotarm/annotations/spacing/q}},% + } + } + \expandafter\pgfkeys\expandafter{\@tmpkeys} + \pgfkeys{/robotarm/.cd,#1} + \def\@tmpkeys{} + \foreach \@link [remember=\@link as \@prevlink (initially 0)] in % + {1,...,\RA@robotarm@numlinks}{ + \xdef\@tmpkeys{\@tmpkeys% + /robotarm/frames/in link \@link/.style={% + /robotarm/frames/in link \@prevlink, + /tikz/shift={% + (\pgfkeysvalueof{/robotarm/geometry/a\@prevlink},0)}, + /tikz/rotate={\pgfkeysvalueof{/robotarm/config/q\@link}}, + }, + } + } + \expandafter\pgfkeys\expandafter{\@tmpkeys} + + \begin{scope}[/robotarm/frames/in link 0, + link style/.style={/robotarm/styles/link 0}] + \robotArmBaseLink + \end{scope} + + \foreach\link@num in {1,...,\RA@robotarm@numlinks}{ + \begin{scope}[/robotarm/frames/in link \link@num, + link style/.style={/robotarm/styles/link \link@num}] + + \ifnum\link@num<\RA@robotarm@numlinks + \robotArmLink[ + joint radius=\pgfkeysvalueof{/robotarm/geometry/r\link@num}, + length=\pgfkeysvalueof{/robotarm/geometry/a\link@num}, + width=\pgfkeysvalueof{/robotarm/geometry/w\link@num}, + ] + \else + \robotArmEndEffector[ + joint radius=\pgfkeysvalueof{/robotarm/geometry/r\link@num}, + length=\pgfkeysvalueof{/robotarm/geometry/a\link@num}, + width=\pgfkeysvalueof{/robotarm/geometry/w\link@num}, + ] + \fi + \end{scope} + } + \foreach\link@num in {1,...,\RA@robotarm@numlinks}{ + \begin{scope}[/robotarm/frames/in link \link@num] + \pgfmathsetmacro\link@length{\pgfkeysvalueof{% + /robotarm/geometry/a\link@num}} + \pgfmathsetmacro\link@angle{\pgfkeysvalueof{% + /robotarm/config/q\link@num}} + + \ifRA@robotarm@drawannotations + \pgfmathsetmacro\link@lengthannotspacing{% + \pgfkeysvalueof{/robotarm/annotations/spacing/a\link@num}* + \pgfkeysvalueof{/robotarm/geometry/r\link@num}} + \pgfmathsetmacro\link@angleannotspacing{% + \pgfkeysvalueof{/robotarm/annotations/spacing/q\link@num}* + \link@length} + + % Length annotation help lines + \path[/robotarm/every annotation, + /robotarm/every length annotation, + /robotarm/every length annotation help line] + (0,0) -- (\link@length,0); + \path[/robotarm/every annotation, + /robotarm/every length annotation, + /robotarm/every length annotation help line] + (0,0) -- ++ (0,{\link@lengthannotspacing + + 0.1*sign(\link@lengthannotspacing)}); + \path[/robotarm/every annotation, + /robotarm/every length annotation, + /robotarm/every length annotation help line] + (\link@length,0) -- ++ (0,{\link@lengthannotspacing + + 0.1*sign(\link@lengthannotspacing)}); + \path (0,\link@lengthannotspacing) + -- coordinate[pos=0.5] (coor) ++ (\link@length,0); + \node[/robotarm/every annotation, + /robotarm/every length annotation, + /robotarm/every length annotation node] + at (coor) (tag) + {\pgfkeysvalueof{/robotarm/annotations/labels/a\link@num}}; + \path[/robotarm/every annotation, + /robotarm/every length annotation, + /robotarm/every length annotation arrow] + (tag) -- (0,\link@lengthannotspacing); + \path[/robotarm/every annotation, + /robotarm/every length annotation, + /robotarm/every length annotation arrow] + (tag) -- (\link@length,\link@lengthannotspacing); + + \pgfmathsetmacro\angleannotationcase{% + ifthenelse(\link@angle==0.0, 0, 1)} + \ifnum\angleannotationcase>0 + % Angle annotation help lines + \path[/robotarm/every annotation, + /robotarm/every angle annotation, + /robotarm/every angle annotation help line] + (0,0) -- ++(-\link@angle:{\link@angleannotspacing+0.1}); + \path[/robotarm/every annotation, + /robotarm/every angle annotation, + /robotarm/every angle annotation help line] + (0,0) -- ++(0:{\link@angleannotspacing+0.1}); + + % Angle annotation arrow + \path[/robotarm/every annotation, + /robotarm/every angle annotation, + /robotarm/every angle annotation arrow] + (0,0) ++ (-\link@angle:\link@angleannotspacing) + arc (-\link@angle:0:\link@angleannotspacing); + + % Angle annotation node + \node[/robotarm/every annotation, + /robotarm/every angle annotation, + /robotarm/every angle annotation node] + at (-\link@angle/2:\link@angleannotspacing+0.3) + {\pgfkeysvalueof{/robotarm/annotations/labels/q\link@num}}; + \fi + \fi + \end{scope} + } + \tikzset{ + in link/.style={/robotarm/frames/in link #1}, + in base link/.style={/robotarm/frames/in link 0}, + in end effector/.style={/robotarm/frames/in end effector}, + in world/.style={/robotarm/frames/in world}, + } +} +\makeatother +\endinput +%% +%% End of file `robotarm.sty'. |