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    Metadata details:
    filename: VREP_arm.m
    path of file: ./repos/robotics-toolbox-matlab/interfaces/VREP
    
    the code of the file until where you have to start completion: %VREP_arm Mirror of V-REP robot arm object
%
% Mirror objects are MATLAB objects that reflect the state of objects in
% the V-REP environment.  Methods allow the V-REP state to be examined or
% changed.
%
% This is a concrete class, derived from VREP_mirror, for all V-REP robot
% arm objects and allows access to joint variables.
%
% Methods throw exception if an error occurs.
%
% Example::
%          vrep = VREP();
%          arm = vrep.arm('IRB140');
%          q = arm.getq();
%          arm.setq(zeros(1,6));
%          arm.setpose(T);  % set pose of base
%   
% Methods::
%
%  getq              get joint coordinates
%  setq              set joint coordinates
%  setjointmode      set joint control parameters
%  animate           animate a joint coordinate trajectory
%  teach             graphical teach pendant
%
% Superclass methods (VREP_obj)::
%  getpos              get position of object
%  setpos              set position of object 
%  getorient           get orientation of object
%  setorient           set orientation of object
%  getpose             get pose of object given
%  setpose             set pose of object
%
% can be used to set/get the pose of the robot base.
%
% Superclass methods (VREP_mirror)::
%  getname          get object name
%-
%  setparam_bool    set object boolean parameter
%  setparam_int     set object integer parameter
%  setparam_float   set object float parameter
%
%  getparam_bool    get object boolean parameter
%  getparam_int     get object integer parameter
%  getparam_float   get object floa
    
function setq(arm, q)
            %VREP_arm.setq  Set joint angles of V-REP robot
            %
            % ARM.setq(Q) sets the joint angles of the corresponding
            % robot arm in the V-REP simulation to Q (1xN).
            %
            % See also VREP_arm.getq.
            for j=1:arm.n
                arm.vrep.setjoint(arm.joint(j), q(j));
            end
        end
        
        function setqt(arm, q)
            %VREP_arm.setq  Set joint angles of V-REP robot
            %
            % ARM.setq(Q) sets the joint angles of the corresponding
            % robot arm in the V-REP simulation to Q (1xN).
            for j=1:arm.n
                arm.vrep.setjointtarget(arm.joint(j), q(j));
            end
        end
        
        function setjointmode(arm, motor, control)
            %VREP_arm.setjointmode Set joint mode
            %
            % ARM.setjointmode(M, C) sets the motor enable M (0 or 1) and motor control
            % C (0 or 1) parameters for all joints of this robot arm.
            
            for j=1:arm.n
                arm.vrep.setobjparam_int(arm.joint(j), 2000, 1);  %motor enable
                arm.vrep.setobjparam_int(arm.joint(j), 2001, 1);  %motor control enable
                
            end

        end
        function animate(arm, qt, varargin)
            %VREP_arm.setq  Animate V-REP robot
            %
            % R.animate(QT, OPTIONS) animates the corresponding V-REP robot with
            % configurations taken from consecutive rows of QT (MxN) which represents
            % an M-point trajectory and N is the number of robot joints.
            %
            % Options::
            % 'delay',D         Delay (s) betwen frames for animation (default 0.1)
            % 'fps',fps         Number of frames per second for display, inverse of 'delay' option
            % '[no]loop'        Loop over the trajectory forever
            %
            % See also SerialLink.plot.

            opt.delay = 0.1;
            opt.fps = [];
            opt.loop = false;
            opt = tb_optparse(opt, varargin);
            
            if ~isempty(opt.fps)
                opt.delay = 1/opt.fps;
            end