%CODEGENERATOR.GENMEXFDYN Generate C-MEX-function for forward dynamics % % cGen.genmexfdyn() generates a robot-specific MEX-function to compute % the forward dynamics. % % Notes:: % - Is called by CodeGenerator.genfdyn 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.genfdyn, CodeGenerator.genmexinvdyn. % 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 [] = genmexfdyn(CGen) CGen.logmsg([datestr(now),'\tGenerating inverse dynamics MEX-function: ']); mexfunname = 'accel'; mexcfilename = fullfile(CGen.robjpath,[mexfunname,'.c']); cfunname = [CGen.getrobfname,'_',mexfunname]; cfilename = [cfunname '.c']; hfilename = [cfunname '.h']; [Q, QD] = CGen.rob.gencoords; [tau] = CGen.rob.genforces; % Function description header hStruct = createHeaderStruct(CGen.rob,mexfunname); hFString = CGen.constructheaderstringc(hStruct); fid = fopen(mexcfilename,'w+'); % Insert description header fprintf(fid,'%s\n',hFString); % Includes fprintf(fid,'%s\n%s\n\n',... '#include "mex.h"',... ['#include "',hfilename,'"']); dummy = sym(zeros(CGen.rob.n,1)); % Generate the mex gateway routine funstr = CGen.genmexgatewaystring(dummy,'funname',cfunname, 'vars',{Q, QD, tau}); fprintf(fid,'%s',sprintf(funstr)); fclose(fid); %% Compile the MEX file srcDir = fullfile(CGen.ccodepath,'src'); hdrDir = fullfile(CGen.ccodepath,'include'); cfilelist = fullfile(srcDir,cfilename); for kJoints = 1:CGen.rob.n cfilelist = [cfilelist, ' ',fullfile(srcDir,[CGen.getrobfname,'_inertia_row_',num2str(kJoints),'.c'])]; end for kJoints = 1:CGen.rob.n cfilelist = [cfilelist, ' ',fullfile(srcDir,[CGen.getrobfname,'_coriolis_row_',num2str(kJoints),'.c'])]; end cfilelist = [cfilelist, ' ', fullfile(srcDir,[CGen.getrobfname,'_inertia.c'])]; cfilelist = [cfilelist, ' ', fullfile(srcDir,[CGen.getrobfname,'_coriolis.c'])]; cfilelist = [cfilelist, ' ', fullfile(srcDir,[CGen.getrobfname,'_gravload.c'])]; cfilelist = [cfilelist, ' ', fullfile(srcDir,[CGen.getrobfname,'_friction.c'])]; cfilelist = [cfilelist, ' ', fullfile(srcDir,'matvecprod.c')]; cfilelist = [cfilelist, ' ', fullfile(srcDir,'gaussjordan.c')]; if CGen.verbose eval(['mex ',mexcfilename, ' ',cfilelist,' -I',hdrDir, ' -v -outdir ',CGen.robjpath]); else eval(['mex ',mexcfilename, ' ',cfilelist,' -I',hdrDir,' -outdir ',CGen.robjpath]); end CGen.logmsg('\t%s\n',' done!'); end %% Definition of the header contents for each generated file function hStruct = createHeaderStruct(rob,fname) [~,hStruct.funName] = fileparts(fname); hStruct.calls = ''; hStruct.shortDescription = ['C-implementation of the forward dynamics for the ',rob.name,' arm.']; hStruct.detailedDescription = {'Given a full set of joint angles and velocities',... 'this function computes the joint space accelerations effected by the generalized forces. Angles have to be given in radians!'}; hStruct.inputs = { ['input1: ',int2str(rob.n),'-element vector of generalized coordinates'],... ['input2: ',int2str(rob.n),'-element vector of generalized velocities'],... ['input3: [',int2str(rob.n),'x1] vector of generalized forces.']}; hStruct.outputs = {['QDD: ',int2str(rob.n),'-element output vector of generalized accelerations.']}; 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 = {'invdyn'}; end