%CODEGENERATOR.GENMEXFRICTION Generate C-MEX-function for joint friction % % cGen.genmexfriction() generates a robot-specific MEX-function to compute % the vector of joint friction. % % Notes:: % - Is called by CodeGenerator.genfriction if cGen has active flag genmex % - The MEX file uses the .c and .h files generated in the directory % specified by the ccodepath property of the CodeGenerator object. % - Access to generated function is provided via subclass of SerialLink % whose class definition is stored in cGen.robjpath. % - You will need a C compiler to use the generated MEX-functions. See the % MATLAB documentation on how to setup the compiler in MATLAB. % Nevertheless the basic C-MEX-code as such may be generated without a % compiler. In this case switch the cGen flag compilemex to false. % % Author:: % Joern Malzahn, (joern.malzahn@tu-dortmund.de) % % See also CodeGenerator.CodeGenerator, CodeGenerator.gengravload. % Copyright (C) 2012-2014, by Joern Malzahn % % This file is part of The Robotics Toolbox for Matlab (RTB). % % RTB is free software: you can redistribute it and/or modify % it under the terms of the GNU Lesser General Public License as published by % the Free Software Foundation, either version 3 of the License, or % (at your option) any later version. % % RTB is distributed in the hope that it will be useful, % but WITHOUT ANY WARRANTY; without even the implied warranty of % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the % GNU Lesser General Public License for more details. % % You should have received a copy of the GNU Leser General Public License % along with RTB. If not, see . % % http://www.petercorke.com function [] = genmexfriction(CGen) %% Forward kinematics up to tool center point CGen.logmsg([datestr(now),'\tGenerating friction vector MEX-function: ']); symname = 'friction'; fname = fullfile(CGen.sympath,[symname,'.mat']); if exist(fname,'file') tmpStruct = load(fname); else error ('genmfungravload:SymbolicsNotFound','Save symbolic expressions to disk first!') end funfilename = fullfile(CGen.robjpath,[symname,'.c']); [QD] = CGen.rob.gencoords; % Function description header hStruct = createHeaderStruct(CGen.rob,symname); % Generate and compile MEX function CGen.mexfunction(tmpStruct.(symname),... 'funfilename',funfilename,... 'funname',[CGen.getrobfname,'_',symname],... 'vars',{QD},... 'output','F',... 'header',hStruct); CGen.logmsg('\t%s\n',' done!'); end %% Definition of the function description header contents function hStruct = createHeaderStruct(rob,fname) [~,hStruct.funName] = fileparts(fname); hStruct.calls = ''; hStruct.shortDescription = ['Joint friction for the ',rob.name,' arm.']; hStruct.detailedDescription = {['Given a full set of generalized joint velocities the function'],... 'computes the friction forces/torques. Angles have to be given in radians!'}; hStruct.inputs = { ['input1: ',int2str(rob.n),'-element vector of generalized velocities.']}; hStruct.outputs = {['F: [',int2str(rob.n),'x1] output vector of joint friction forces/torques.']}; hStruct.references = {'Robot Modeling and Control - Spong, Hutchinson, Vidyasagar',... 'Modelling and Control of Robot Manipulators - Sciavicco, Siciliano',... 'Introduction to Robotics, Mechanics and Control - Craig',... 'Modeling, Identification & Control of Robots - Khalil & Dombre'}; hStruct.authors = {'This is an autogenerated function!',... 'Code generator written by:',... 'Joern Malzahn (joern.malzahn@tu-dortmund.de)'}; hStruct.seeAlso = {'gravload'}; end