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210 lines
8.2 KiB
210 lines
8.2 KiB
%CODEGENERATOR.GENCCODEFDYN Generate C-code for forward dynamics
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%
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% cGen.genccodeinvdyn() generates a robot-specific C-code to compute the
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% forward dynamics.
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%
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% Notes::
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% - Is called by CodeGenerator.genfdyn if cGen has active flag genccode or
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% genmex.
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% - The .c and .h files are generated in the directory specified
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% by the ccodepath property of the CodeGenerator object.
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% - The resulting C-function is composed of previously generated C-functions
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% for the inertia matrix, Coriolis matrix, vector of gravitational load and
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% joint friction vector. This function recombines these components to
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% compute the forward dynamics.
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%
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% Author::
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% Joern Malzahn, (joern.malzahn@tu-dortmund.de)
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%
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% See also CodeGenerator.CodeGenerator, CodeGenerator.genfdyn,CodeGenerator.genccodeinvdyn.
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% Copyright (C) 2012-2014, by Joern Malzahn
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%
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% This file is part of The Robotics Toolbox for Matlab (RTB).
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%
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% RTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% RTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with RTB. If not, see <http://www.gnu.org/licenses/>.
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%
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% http://www.petercorke.com
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function [ ] = genccodefdyn( CGen )
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checkexistanceofcfunctions(CGen);
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[Q, QD] = CGen.rob.gencoords;
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tau = CGen.rob.genforces;
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nJoints = CGen.rob.n;
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% Check for existance of C-code directories
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srcDir = fullfile(CGen.ccodepath,'src');
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hdrDir = fullfile(CGen.ccodepath,'include');
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if ~exist(srcDir,'dir')
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mkdir(srcDir);
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end
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if ~exist(hdrDir,'dir')
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mkdir(hdrDir);
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end
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symname = 'fdyn';
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outputname = 'QDD';
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funname = [CGen.getrobfname,'_accel'];
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funfilename = [funname,'.c'];
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hfilename = [funname,'.h'];
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CGen.logmsg([datestr(now),'\tGenerating forward dynamics C-code']);
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% Convert symbolic expression into C-code
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dummy = sym(zeros(nJoints,1));
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[funstr hstring] = ccodefunctionstring(dummy,...
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'funname',funname,...
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'vars',{Q, QD, tau},'output',outputname,...
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'flag',1);
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% Create the function description header
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hStruct = createHeaderStruct(CGen.rob,funname); % create header
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hStruct.calls = hstring;
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hFString = CGen.constructheaderstringc(hStruct);
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%% Generate C implementation file
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fid = fopen(fullfile(srcDir,funfilename),'w+');
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% Includes
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fprintf(fid,'%s\n\n',...
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['#include "', hfilename,'"']);
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% Function
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fprintf(fid,'%s{\n\n',funstr);
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% Allocate memory
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fprintf(fid,'\t%s\n','/* declare variables */');
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fprintf(fid,'\t%s\n','int iCol;');
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fprintf(fid,'\t%s\n',['double inertia[',num2str(nJoints),'][',num2str(nJoints),'];']);
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fprintf(fid,'\t%s\n',['double invinertia[',num2str(nJoints),'][',num2str(nJoints),'];']);
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fprintf(fid,'\t%s\n',['double coriolis[',num2str(nJoints),'][',num2str(nJoints),'];']);
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fprintf(fid,'\t%s\n',['double gravload[',num2str(nJoints),'][1];']);
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fprintf(fid,'\t%s\n',['double friction[',num2str(nJoints),'][1];']);
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fprintf(fid,'\t%s\n',['double tmpTau[1][',num2str(nJoints),'];']);
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fprintf(fid,'%s\n',' '); % empty line
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fprintf(fid,'\t%s\n','/* call the computational routines */');
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fprintf(fid,'\t%s\n',[CGen.getrobfname,'_','inertia(inertia, input1);']);
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fprintf(fid,'\t%s\n',['gaussjordan(inertia, invinertia, ',num2str(nJoints),');']);
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fprintf(fid,'\t%s\n',[CGen.getrobfname,'_','coriolis(coriolis, input1, input2);']);
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fprintf(fid,'\t%s\n',[CGen.getrobfname,'_','gravload(gravload, input1);']);
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fprintf(fid,'\t%s\n',[CGen.getrobfname,'_','friction(friction, input2);']);
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fprintf(fid,'%s\n',' '); % empty line
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fprintf(fid,'\t%s\n','/* fill temporary vector */');
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fprintf(fid,'\t%s\n',['matvecprod(tmpTau, coriolis, input2,',num2str(nJoints),',',num2str(nJoints),');']);
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fprintf(fid,'\t%s\n',['for (iCol = 0; iCol < ',num2str(nJoints),'; iCol++){']);
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fprintf(fid,'\t\t%s\n','tmpTau[0][iCol] = input3[iCol] - tmpTau[0][iCol] - gravload[iCol][0] + friction[iCol][0];');
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fprintf(fid,'\t%s\n','}');
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fprintf(fid,'\t%s\n','/* compute acceleration */');
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fprintf(fid,'\t%s\n',['matvecprod(QDD, invinertia, tmpTau,',num2str(nJoints),',',num2str(nJoints),');']);
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fprintf(fid,'%s\n','}');
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fclose(fid);
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%% Generate C header file
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fid = fopen(fullfile(hdrDir,hfilename),'w+');
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% Function description header
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fprintf(fid,'%s\n\n',hFString);
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% Include guard
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fprintf(fid,'%s\n%s\n\n',...
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['#ifndef ', upper([funname,'_h'])],...
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['#define ', upper([funname,'_h'])]);
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% Includes
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fprintf(fid,'%s\n%s\n%s\n%s\n%s\n%s\n\n',...
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'#include "matvecprod.h"',...
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'#include "gaussjordan.h"',...
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['#include "',CGen.getrobfname,'_inertia.h"'],...
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['#include "',CGen.getrobfname,'_coriolis.h"'],...
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['#include "',CGen.getrobfname,'_gravload.h"'],...
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['#include "',CGen.getrobfname,'_friction.h"']);
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fprintf(fid,'%s\n\n',hstring);
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% Include guard
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fprintf(fid,'%s\n',...
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['#endif /*', upper([funname,'_h */'])]);
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fclose(fid);
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CGen.logmsg('\t%s\n',' done!');
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end
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function [] = checkexistanceofcfunctions(CGen)
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if ~(exist(fullfile(CGen.ccodepath,'src','inertia.c'),'file') == 2) || ~(exist(fullfile(CGen.ccodepath,'include','inertia.h'),'file') == 2)
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CGen.logmsg('\t\t%s\n','Inertia C-code not found or not complete! Generating:');
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CGen.genccodeinertia;
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end
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if ~(exist(fullfile(CGen.ccodepath,'src','coriolis.c'),'file') == 2) || ~(exist(fullfile(CGen.ccodepath,'coriolis','inertia.h'),'file') == 2)
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CGen.logmsg('\t\t%s\n','Coriolis C-code not found or not complete! Generating:');
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CGen.genccodecoriolis;
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end
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if ~(exist(fullfile(CGen.ccodepath,'src','gravload.c'),'file') == 2) || ~(exist(fullfile(CGen.ccodepath,'include','gravload.h'),'file') == 2)
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CGen.logmsg('\t\t%s\n','Gravload C-code not found or not complete! Generating:');
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CGen.genccodegravload;
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end
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if ~(exist(fullfile(CGen.ccodepath,'src','friction.c'),'file') == 2) || ~(exist(fullfile(CGen.ccodepath,'include','friction.h'),'file') == 2)
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CGen.logmsg('\t\t%s\n','Friction C-code not found or not complete! Generating:');
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CGen.genccodefriction;
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end
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if ~(exist(fullfile(CGen.ccodepath,'src','matvecprod.c'),'file') == 2) || ~(exist(fullfile(CGen.ccodepath,'include','matvecprod.h'),'file') == 2)
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CGen.logmsg('\t\t%s\n','Matrix-Vector product C-code not found or not complete! Generating:');
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CGen.genmatvecprodc;
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end
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if ~(exist(fullfile(CGen.ccodepath,'src','gaussjordan.c'),'file') == 2) || ~(exist(fullfile(CGen.ccodepath,'include','gaussjordan.h'),'file') == 2)
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CGen.logmsg('\t\t%s\n','Gauss-Jordan matrix inversion C-code not found or not complete! Generating:');
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CGen.gengaussjordanc;
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end
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end
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%% Definition of the header contents for each generated file
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function hStruct = createHeaderStruct(rob,fname)
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[~,hStruct.funName] = fileparts(fname);
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hStruct.shortDescription = ['C-implementation of the forward dynamics for the ',rob.name,' arm.'];
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hStruct.detailedDescription = {'Given a full set of joint angles and velocities',...
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'this function computes the joint space accelerations effected by the generalized forces. Angles have to be given in radians!'};
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hStruct.inputs = { ['input1: ',int2str(rob.n),'-element vector of generalized coordinates'],...
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['input2: ',int2str(rob.n),'-element vector of generalized velocities'],...
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['input3: [',int2str(rob.n),'x1] vector of generalized forces.']};
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hStruct.outputs = {['QDD: ',int2str(rob.n),'-element output vector of generalized accelerations.']};
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hStruct.references = {'Robot Modeling and Control - Spong, Hutchinson, Vidyasagar',...
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'Modelling and Control of Robot Manipulators - Sciavicco, Siciliano',...
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'Introduction to Robotics, Mechanics and Control - Craig',...
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'Modeling, Identification & Control of Robots - Khalil & Dombre'};
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hStruct.authors = {'This is an autogenerated function!',...
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'Code generator written by:',...
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'Joern Malzahn (joern.malzahn@tu-dortmund.de)'};
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hStruct.seeAlso = {'invdyn'};
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end
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