How to access values in struct from another script?

Hi all,

So I have a script as below with some data in struct.

For example, I want to access the value 1.2 in the struct, when I am working on another script (e.g. CAL.m) for manipulation. What code should I use?

If the 1.2 is in a matrix named DH in the CAL.m, I can access it with DH(1,4) in CAL.m

But now the DH is a struct and located in ArmModel.m, how can I acess its values in CAL.m?

The purpose here is to store some data in the script ArmModel.m, and then access the data from another script CAL.m. So I can plug other dataset maybe ArmModel2.m, ArmModel3.m...... into CAL.m later.

Thanks!

function m = ArmModel()

l_RCC = 0.4318;
l_tool = 0.4162;
l_pitch2yaw = 0.0091;

m.DH = [
    % type   alpha   a            d       theta
    % ====   =====   =            =       =====
      1      pi/2    0            1.2      pi/2 ;
      1      -pi/2   0            0       -pi/2 ;
      2      pi/2    0            -l_RCC  0 ;
      1      0       0            l_tool  0 ;
      1      -pi/2   0            0       -pi/2 ;
      1      -pi/2   l_pitch2yaw  0       -pi/2 ;
      ];
  
end

Answer 1

[Stephen23]

Just return that structure when you call ArmModel inside CAL.m:

m = ArmModel();
DH = m.DH;