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125 lines
4.9 KiB
125 lines
4.9 KiB
%CODEGENERATOR.GENMEXINVDYN Generate C-MEX-function for inverse dynamics
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%
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% cGen.genmexinvdyn() generates a robot-specific MEX-function to compute
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% the inverse dynamics.
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%
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% Notes::
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% - Is called by CodeGenerator.geninvdyn if cGen has active flag genmex.
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% - The MEX file uses the .c and .h files generated in the directory
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% specified by the ccodepath property of the CodeGenerator object.
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% - Access to generated function is provided via subclass of SerialLink
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% whose class definition is stored in cGen.robjpath.
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% - You will need a C compiler to use the generated MEX-functions. See the
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% MATLAB documentation on how to setup the compiler in MATLAB.
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% Nevertheless the basic C-MEX-code as such may be generated without a
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% compiler. In this case switch the cGen flag compilemex to false.
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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.gengravload.
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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 [] = genmexinvdyn(CGen)
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CGen.logmsg([datestr(now),'\tGenerating inverse dynamics MEX-function: ']);
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mexfunname = 'invdyn';
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mexcfilename = fullfile(CGen.robjpath,[mexfunname,'.c']);
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cfunname = [CGen.getrobfname,'_',mexfunname];
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cfilename = [cfunname '.c'];
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hfilename = [cfunname '.h'];
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[Q, QD, QDD] = CGen.rob.gencoords;
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% Function description header
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hStruct = createHeaderStruct(CGen.rob,mexfunname);
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hFString = CGen.constructheaderstringc(hStruct);
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fid = fopen(mexcfilename,'w+');
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% Insert description header
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fprintf(fid,'%s\n',hFString);
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% Includes
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fprintf(fid,'%s\n%s\n\n',...
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'#include "mex.h"',...
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['#include "',hfilename,'"']);
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dummy = sym(zeros(CGen.rob.n,1));
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% Generate the mex gateway routine
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funstr = CGen.genmexgatewaystring(dummy,'funname',cfunname, 'vars',{Q, QD, QDD});
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fprintf(fid,'%s',sprintf(funstr));
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fclose(fid);
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%% Compile the MEX file
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srcDir = fullfile(CGen.ccodepath,'src');
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hdrDir = fullfile(CGen.ccodepath,'include');
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cfilelist = fullfile(srcDir,cfilename);
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for kJoints = 1:CGen.rob.n
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cfilelist = [cfilelist, ' ',fullfile(srcDir,[CGen.getrobfname,'_inertia_row_',num2str(kJoints),'.c'])];
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end
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for kJoints = 1:CGen.rob.n
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cfilelist = [cfilelist, ' ',fullfile(srcDir,[CGen.getrobfname,'_coriolis_row_',num2str(kJoints),'.c'])];
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end
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cfilelist = [cfilelist, ' ', fullfile(srcDir,[CGen.getrobfname,'_gravload.c'])];
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cfilelist = [cfilelist, ' ', fullfile(srcDir,[CGen.getrobfname,'_friction.c'])];
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cfilelist = [cfilelist, ' ', fullfile(srcDir,'dotprod.c')];
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if CGen.verbose
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eval(['mex ',mexcfilename, ' ',cfilelist,' -I',hdrDir, ' -v -outdir ',CGen.robjpath]);
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else
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eval(['mex ',mexcfilename, ' ',cfilelist,' -I',hdrDir,' -outdir ',CGen.robjpath]);
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end
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CGen.logmsg('\t%s\n',' done!');
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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.calls = '';
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hStruct.shortDescription = ['C-implementation of the inverse dynamics for the ',rob.name,' arm.'];
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hStruct.detailedDescription = {'Given a full set of joint variables and their first and second order',...
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'temporal derivatives this function computes the joint space',...
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'torques needed to perform the particular motion. 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),'-element vector of generalized accelerations.']};
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hStruct.outputs = {['TAU: [',int2str(rob.n),'x1] vector of joint forces/torques.']};
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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 = {'fdyn'};
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end
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