You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
242 lines
8.0 KiB
242 lines
8.0 KiB
%CODEGENERATOR.GENCCODEINERTIA Generate C-function for robot inertia matrix
|
|
%
|
|
% cGen.genccodeinertia() generates robot-specific C-functions to compute
|
|
% the robot inertia matrix.
|
|
%
|
|
% Notes::
|
|
% - Is called by CodeGenerator.geninertia if cGen has active flag genccode or
|
|
% genmex.
|
|
% - The generated .c and .h files are generated in the directory specified
|
|
% by the ccodepath property of the CodeGenerator object.
|
|
%
|
|
% Author::
|
|
% Joern Malzahn, (joern.malzahn@tu-dortmund.de)
|
|
%
|
|
% See also CodeGenerator.CodeGenerator, CodeGenerator.geninertia, CodeGenerator.genmexinertia.
|
|
|
|
% 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.gnu.org/licenses/>.
|
|
%
|
|
% http://www.petercorke.com
|
|
|
|
function [] = genccodeinertia(CGen)
|
|
|
|
%%
|
|
CGen.logmsg([datestr(now),'\tGenerating C-code for the robot inertia matrix row' ]);
|
|
|
|
|
|
% check for existance of C-code directories
|
|
srcDir = fullfile(CGen.ccodepath,'src');
|
|
hdrDir = fullfile(CGen.ccodepath,'include');
|
|
if ~exist(srcDir,'dir')
|
|
mkdir(srcDir);
|
|
end
|
|
if ~exist(hdrDir,'dir')
|
|
mkdir(hdrDir);
|
|
end
|
|
|
|
|
|
Q = CGen.rob.gencoords;
|
|
nJoints = CGen.rob.n;
|
|
|
|
%% Individual inertia matrix rows
|
|
for kJoints = 1:nJoints
|
|
CGen.logmsg(' %s ',num2str(kJoints));
|
|
symname = ['inertia_row_',num2str(kJoints)];
|
|
fname = fullfile(CGen.sympath,[symname,'.mat']);
|
|
|
|
if exist(fname,'file')
|
|
tmpStruct = load(fname);
|
|
else
|
|
error ('genmfuninertia:SymbolicsNotFound','Save symbolic expressions to disk first!')
|
|
end
|
|
|
|
funname = [CGen.getrobfname,'_',symname];
|
|
funfilename = [funname,'.c'];
|
|
hfilename = [funname,'.h'];
|
|
|
|
% Convert symbolic expression into C-code
|
|
[funstr hstring] = ccodefunctionstring(tmpStruct.(symname),...
|
|
'funname',funname,...
|
|
'vars',{Q},'output',['I_row_',num2str(kJoints)]);
|
|
|
|
% Create the function description header
|
|
hStruct = createHeaderStructRow(CGen.rob,kJoints,funname); % create header
|
|
hStruct.calls = hstring;
|
|
hFString = CGen.constructheaderstringc(hStruct);
|
|
|
|
%% Generate C implementation file
|
|
fid = fopen(fullfile(srcDir,funfilename),'w+');
|
|
|
|
% Includes
|
|
fprintf(fid,'%s\n\n',...
|
|
['#include "', hfilename,'"']);
|
|
|
|
% Function
|
|
fprintf(fid,'%s\n\n',funstr);
|
|
fclose(fid);
|
|
|
|
%% Generate C header file
|
|
fid = fopen(fullfile(hdrDir,hfilename),'w+');
|
|
|
|
% Header
|
|
fprintf(fid,'%s\n\n',hFString);
|
|
|
|
% Include guard
|
|
fprintf(fid,'%s\n%s\n\n',...
|
|
['#ifndef ', upper([funname,'_h'])],...
|
|
['#define ', upper([funname,'_h'])]);
|
|
|
|
% Includes
|
|
fprintf(fid,'%s\n\n',...
|
|
'#include "math.h"');
|
|
|
|
% Function prototype
|
|
fprintf(fid,'%s\n\n',hstring);
|
|
|
|
% Include guard
|
|
fprintf(fid,'%s\n',...
|
|
['#endif /*', upper([funname,'_h */'])]);
|
|
|
|
fclose(fid);
|
|
|
|
end
|
|
CGen.logmsg('\t%s\n',' done!');
|
|
|
|
|
|
%% Full inertia matrix
|
|
CGen.logmsg([datestr(now),'\tGenerating full inertia matrix C-code']);
|
|
|
|
symname = 'inertia';
|
|
|
|
funname = [CGen.getrobfname,'_',symname];
|
|
funfilename = [funname,'.c'];
|
|
hfilename = [funname,'.h'];
|
|
outname = 'I';
|
|
|
|
% Generate function prototype
|
|
[hstring] = ccodefunctionstring(sym(zeros(nJoints)),...
|
|
'funname',funname,...
|
|
'vars',{Q},'output',outname,'flag',1);
|
|
|
|
% Create the function description header
|
|
hStruct = createHeaderStructFull(CGen.rob,funname); % create header
|
|
hStruct.calls = hstring;
|
|
hFString = CGen.constructheaderstringc(hStruct);
|
|
|
|
|
|
%% Generate C implementation file
|
|
fid = fopen(fullfile(srcDir,funfilename),'w+');
|
|
|
|
% Includes
|
|
fprintf(fid,'%s\n\n',...
|
|
['#include "', hfilename,'"']);
|
|
|
|
fprintf(fid,'%s{\n\n',hstring);
|
|
|
|
fprintf(fid,'\t%s\n','/* allocate memory for individual rows */');
|
|
for kJoints = 1:nJoints
|
|
fprintf(fid,'\tdouble row%d[%d][1];\n',kJoints,nJoints);
|
|
end
|
|
fprintf(fid,'%s\n',' '); % empty line
|
|
|
|
fprintf(fid,'\t%s\n','/* call the row routines */');
|
|
for kJoints = 1:nJoints
|
|
fprintf(fid,'\t%s_inertia_row_%d(row%d, input1);\n',CGen.getrobfname,kJoints,kJoints);
|
|
end
|
|
fprintf(fid,'%s\n',' '); % empty line\n
|
|
|
|
% Copy results into output matrix
|
|
for iJoints = 1:nJoints
|
|
for kJoints = 1:nJoints
|
|
fprintf(fid,'\t%s[%d][%d] = row%d[%d][0];\n',outname,kJoints-1,iJoints-1,iJoints,kJoints-1);
|
|
end
|
|
fprintf(fid,'%s\n',' '); % empty line\n
|
|
end
|
|
|
|
fprintf(fid,'%s\n','}');
|
|
|
|
fclose(fid);
|
|
|
|
%% Generate C header file
|
|
fid = fopen(fullfile(hdrDir,hfilename),'w+');
|
|
|
|
% Header
|
|
fprintf(fid,'%s\n\n',hFString);
|
|
|
|
% Include guard
|
|
fprintf(fid,'%s\n%s\n\n',...
|
|
['#ifndef ', upper([funname,'_h'])],...
|
|
['#define ', upper([funname,'_h'])]);
|
|
|
|
% Includes
|
|
fprintf(fid,'%s\n\n',...
|
|
'#include "math.h"');
|
|
for kJoints = 1:nJoints
|
|
rowstring = [CGen.getrobfname,'_inertia_row_',num2str(kJoints)];
|
|
fprintf(fid,'%s\n',...
|
|
['#include "',rowstring,'.h"']);
|
|
end
|
|
fprintf(fid,'%s\n',' '); % empty line
|
|
|
|
% Function prototype
|
|
fprintf(fid,'%s;\n\n',hstring);
|
|
|
|
% Include guard
|
|
fprintf(fid,'%s\n',...
|
|
['#endif /*', upper([funname,'_h */'])]);
|
|
|
|
fclose(fid);
|
|
|
|
CGen.logmsg('\t%s\n',' done!');
|
|
end
|
|
|
|
|
|
%% Definition of the header contents for each generated file
|
|
function hStruct = createHeaderStructRow(rob,curJointIdx,fName)
|
|
[~,hStruct.funName] = fileparts(fName);
|
|
hStruct.shortDescription = ['Computation of the robot specific inertia matrix row for corresponding to joint ', num2str(curJointIdx), ' of ',num2str(rob.n),'.'];
|
|
hStruct.detailedDescription = {'Given a full set of joint variables this function computes the',...
|
|
['inertia matrix row number ', num2str(curJointIdx),' of ',num2str(rob.n),' for ',rob.name,'. Angles have to be given in radians!']};
|
|
hStruct.inputs = {['input1: ',int2str(rob.n),'-element vector of generalized coordinates.']};
|
|
hStruct.outputs = {['I_row_',int2str(curJointIdx),': [1x',int2str(rob.n),'] output row of the robot inertia matrix.']};
|
|
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 = {'coriolis'};
|
|
end
|
|
|
|
function hStruct = createHeaderStructFull(rob,fname)
|
|
[~,hStruct.funName] = fileparts(fname);
|
|
hStruct.shortDescription = ['Inertia matrix for the ',rob.name,' arm.'];
|
|
hStruct.detailedDescription = {'Given a full set of joint variables the function computes the',...
|
|
'inertia Matrix of the robot. Angles have to be given in radians!'};
|
|
hStruct.inputs = {['input1: ',int2str(rob.n),'-element vector of generalized coordinates.']};
|
|
hStruct.outputs = {['I: [',int2str(rob.n),'x',int2str(rob.n),']output inertia matrix.']};
|
|
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 = {'coriolis'};
|
|
end
|