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.
144 lines
6.4 KiB
144 lines
6.4 KiB
%CODEGENERATOR.GENMFUNFKINE Generate M-function for forward kinematics
|
|
%
|
|
% cGen.genmfunfkine() generates a robot-specific M-function to compute
|
|
% forward kinematics.
|
|
%
|
|
% Notes::
|
|
% - Is called by CodeGenerator.genfkine if cGen has active flag genmfun
|
|
% - Access to generated function is provided via subclass of SerialLink
|
|
% whose class definition is stored in cGen.robjpath.
|
|
%
|
|
% Author::
|
|
% Joern Malzahn
|
|
% 2012 RST, Technische Universitaet Dortmund, Germany.
|
|
% http://www.rst.e-technik.tu-dortmund.de
|
|
%
|
|
% See also CodeGenerator.CodeGenerator, CodeGenerator.genjacobian.
|
|
|
|
% Copyright (C) 2012-2013, 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
|
|
%
|
|
% The code generation module emerged during the work on a project funded by
|
|
% the German Research Foundation (DFG, BE1569/7-1). The authors gratefully
|
|
% acknowledge the financial support.
|
|
|
|
function [] = genmfunfkine(CGen)
|
|
|
|
%% Does robot class exist?
|
|
if ~exist(fullfile(CGen.robjpath,[CGen.getrobfname,'.m']),'file')
|
|
CGen.logmsg([datestr(now),'\tCreating ',CGen.getrobfname,' m-constructor ']);
|
|
CGen.createmconstructor;
|
|
CGen.logmsg('\t%s\n',' done!');
|
|
end
|
|
|
|
%% Forward kinematics up to tool center point
|
|
CGen.logmsg([datestr(now),'\tGenerating forward kinematics m-function up to the end-effector frame: ']);
|
|
symname = 'fkine';
|
|
fname = fullfile(CGen.sympath,[symname,'.mat']);
|
|
|
|
if exist(fname,'file')
|
|
tmpStruct = load(fname);
|
|
else
|
|
error ('genmfunfkine:SymbolicsNotFound','Save symbolic expressions to disk first!')
|
|
end
|
|
|
|
funfilename = fullfile(CGen.robjpath,[symname,'.m']);
|
|
q = CGen.rob.gencoords;
|
|
|
|
matlabFunction(tmpStruct.(symname),'file',funfilename,... % generate function m-file
|
|
'outputs', {symname},...
|
|
'vars', {'rob',[q]});
|
|
hStruct = createHeaderStructFkine(CGen.rob,symname); % replace autogenerated function header
|
|
replaceheader(CGen,hStruct,funfilename);
|
|
CGen.logmsg('\t%s\n',' done!');
|
|
|
|
|
|
%% Individual joint forward kinematics
|
|
CGen.logmsg([datestr(now),'\tGenerating forward kinematics m-function up to joint: ']);
|
|
for iJoints=1:CGen.rob.n
|
|
|
|
CGen.logmsg(' %i ',iJoints);
|
|
symname = ['T0_',num2str(iJoints)];
|
|
fname = fullfile(CGen.sympath,[symname,'.mat']);
|
|
|
|
tmpStruct = struct;
|
|
tmpStruct = load(fname);
|
|
|
|
funfilename = fullfile(CGen.robjpath,[symname,'.m']);
|
|
q = CGen.rob.gencoords;
|
|
|
|
matlabFunction(tmpStruct.(symname),'file',funfilename,... % generate function m-file
|
|
'outputs', {symname},...
|
|
'vars', {'rob',[q]});
|
|
hStruct = createHeaderStruct(CGen.rob,iJoints,symname); % replace autogenerated function header
|
|
CGen.replaceheader(hStruct,funfilename);
|
|
end
|
|
CGen.logmsg('\t%s\n',' done!');
|
|
|
|
end
|
|
|
|
%% Definition of the header contents for each generated file
|
|
function hStruct = createHeaderStruct(rob,curBody,fname)
|
|
[~,hStruct.funName] = fileparts(fname);
|
|
hStruct.shortDescription = ['Forward kinematics for the ',rob.name,' arm up to frame ',int2str(curBody),' of ',int2str(rob.n),'.'];
|
|
hStruct.calls = {['T = ',hStruct.funName,'(rob,q)'],...
|
|
['T = rob.',hStruct.funName,'(q)']};
|
|
hStruct.detailedDescription = {['Given a set of joint variables up to joint number ',int2str(curBody),' the function'],...
|
|
'computes the pose belonging to that joint with respect to the base frame.'};
|
|
hStruct.inputs = {['q: ',int2str(curBody),'-element vector of generalized coordinates.'],...
|
|
'Angles have to be given in radians!'};
|
|
hStruct.outputs = {['T: [4x4] Homogenous transformation matrix relating the pose of joint ',int2str(curBody),' of ',int2str(rob.n)],...
|
|
' for the given joint values to the base frame.'};
|
|
hStruct.references = {'1) Robot Modeling and Control - Spong, Hutchinson, Vidyasagar',...
|
|
'2) Modelling and Control of Robot Manipulators - Sciavicco, Siciliano',...
|
|
'3) Introduction to Robotics, Mechanics and Control - Craig',...
|
|
'4) Modeling, Identification & Control of Robots - Khalil & Dombre'};
|
|
hStruct.authors = {'This is an autogenerated function!',...
|
|
'Code generator written by:',...
|
|
'Joern Malzahn',...
|
|
'2012 RST, Technische Universitaet Dortmund, Germany',...
|
|
'http://www.rst.e-technik.tu-dortmund.de'};
|
|
hStruct.seeAlso = {rob.name};
|
|
end
|
|
|
|
%% Definition of the header contents for each generated file
|
|
function hStruct = createHeaderStructFkine(rob,fname)
|
|
[~,hStruct.funName] = fileparts(fname);
|
|
hStruct.shortDescription = ['Forward kinematics solution including tool transformation for the ',rob.name,' arm.'];
|
|
hStruct.calls = {['T = ',hStruct.funName,'(rob,q)'],...
|
|
['T = rob.',hStruct.funName,'(q)']};
|
|
hStruct.detailedDescription = {['Given a full set of joint variables the function'],...
|
|
'computes the pose belonging to that joint with respect to the base frame.'};
|
|
hStruct.inputs = { ['rob: robot object of ', rob.name, ' specific class'],...
|
|
['q: ',int2str(rob.n),'-element vector of generalized'],...
|
|
' coordinates',...
|
|
'Angles have to be given in radians!'};
|
|
hStruct.outputs = {['T: [4x4] Homogenous transformation matrix relating the pose of the tool'],...
|
|
' for the given joint values to the base frame.'};
|
|
hStruct.references = {'1) Robot Modeling and Control - Spong, Hutchinson, Vidyasagar',...
|
|
'2) Modelling and Control of Robot Manipulators - Sciavicco, Siciliano',...
|
|
'3) Introduction to Robotics, Mechanics and Control - Craig',...
|
|
'4) Modeling, Identification & Control of Robots - Khalil & Dombre'};
|
|
hStruct.authors = {'This is an autogenerated function!',...
|
|
'Code generator written by:',...
|
|
'Joern Malzahn',...
|
|
'2012 RST, Technische Universitaet Dortmund, Germany',...
|
|
'http://www.rst.e-technik.tu-dortmund.de'};
|
|
hStruct.seeAlso = {'jacob0'};
|
|
end
|