RobotDiagrams

A header file and associated examples for generating 2-D textbook diagrams of simple robots.

This uses an open source SVG drawing library -- simple svg. Check the license here before using it in your own project! (NOTE: it has been modified; 'transparent' has been changed to 'none' to ensure the generated SVG file properly handles transparancy)

The example programs are as follows:

• draw_rr_robot.cpp - draws a simple RR robot.
• generate_robots.cpp - converts all file arguments with an extension of '.robot' to '.svg' format.

Config file

For generate_robots.cpp, the text format for the .robot files is a series of lines, each which is one of the following.

Base (fixed attachment to the world):

base
base <specific width>
invisible_base
invisible_base <specific width>

Link

link <length>
link <length> <label>
invisible_link <length>

Frames - x/y axis

frames

Vector

vector <length>
vector <length> <label>

Point

point
point <label>

Rotary Joint

rjoint <theta>
invisible_rjoint <theta>

Prismatic Joint

pjoint

End Effector

effector

Building

To compile and run the example programs, type

g++ <program name> -o <executable name>

TODOS

• scaling factor
• text labels