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142 lines
4.5 KiB
142 lines
4.5 KiB
%CODEGENERATOR.GENINVDYN Generate code for inverse dynamics
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%
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% TAU = cGen.geninvdyn() is the symbolic vector (1xN) of joint forces/torques.
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%
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% Notes::
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% - The inverse dynamics vector is composed of the previously computed inertia matrix
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% coriolis matrix, vector of gravitational load and joint friction for speedup.
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% The generated code recombines these components to output the final vector.
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% - Side effects of execution depends on the cGen flags:
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% - saveresult: the symbolic expressions are saved to
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% disk in the directory specified by cGen.sympath
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% - genmfun: ready to use m-functions are generated and
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% provided via a subclass of SerialLink stored in cGen.robjpath
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% - genslblock: a Simulink block is generated and stored in a
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% robot specific block library cGen.slib in the directory
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% cGen.basepath
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%
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% Author::
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% Joern Malzahn
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% 2012 RST, Technische Universitaet Dortmund, Germany.
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% http://www.rst.e-technik.tu-dortmund.de
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%
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% See also CodeGenerator.CodeGenerator, CodeGenerator.genfdyn, CodeGenerator.genfkine.
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% Copyright (C) 2012-2013, 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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%
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% The code generation module emerged during the work on a project funded by
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% the German Research Foundation (DFG, BE1569/7-1). The authors gratefully
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% acknowledge the financial support.
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function [ tau ] = geninvdyn( CGen )
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[q,qd,qdd] = CGen.rob.gencoords;
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nJoints = CGen.rob.n;
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%% Inertia matrix
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CGen.logmsg([datestr(now),'\tLoading inertia matrix row by row']);
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I = sym(zeros(nJoints));
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for kJoints = 1:nJoints
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CGen.logmsg(' %s ',num2str(kJoints));
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symname = ['inertia_row_',num2str(kJoints)];
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fname = fullfile(CGen.sympath,[symname,'.mat']);
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if ~exist(fname,'file')
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CGen.logmsg(['\n',datestr(now),'\t Symbolics not found, generating...\n']);
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CGen.geninertia;
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end
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tmpstruct = load(fname);
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I(kJoints,:)=tmpstruct.(symname);
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end
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CGen.logmsg('\t%s\n',' done!');
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%% Matrix of centrifugal and Coriolis forces/torques matrix
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CGen.logmsg([datestr(now),'\tLoading Coriolis matrix row by row']);
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C = sym(zeros(nJoints));
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for kJoints = 1:nJoints
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CGen.logmsg(' %s ',num2str(kJoints));
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symname = ['coriolis_row_',num2str(kJoints)];
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fname = fullfile(CGen.sympath,[symname,'.mat']);
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if ~exist(fname,'file')
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CGen.logmsg(['\n',datestr(now),'\t Symbolics not found, generating...\n']);
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CGen.gencoriolis;
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end
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tmpstruct = load(fname);
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C(kJoints,:)=tmpstruct.(symname);
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end
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CGen.logmsg('\t%s\n',' done!');
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%% Vector of gravitational load
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CGen.logmsg([datestr(now),'\tLoading vector of gravitational forces/torques']);
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symname = 'gravload';
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fname = fullfile(CGen.sympath,[symname,'.mat']);
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if ~exist(fname,'file')
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CGen.logmsg(['\n',datestr(now),'\t Symbolics not found, generating...\n']);
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CGen.gengravload;
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end
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tmpstruct = load(fname);
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G = tmpstruct.(symname);
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CGen.logmsg('\t%s\n',' done!');
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%% Joint friction
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CGen.logmsg([datestr(now),'\tLoading joint friction vector']);
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symname = 'friction';
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fname = fullfile(CGen.sympath,[symname,'.mat']);
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if ~exist(fname,'file')
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CGen.logmsg(['\n',datestr(now),'\t Symbolics not found, generating...\n']);
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CGen.genfriction;
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end
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tmpstruct = load(fname);
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F = tmpstruct.(symname);
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CGen.logmsg('\t%s\n',' done!');
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%% Full inverse dynamics
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tau = I*qdd.'+C*qd.'+ G.' - F.';
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%% Save symbolic expressions
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if CGen.saveresult
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CGen.logmsg([datestr(now),'\tSaving symbolic inverse dynamics']);
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CGen.savesym(tau,'invdyn','invdyn.mat')
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CGen.logmsg('\t%s\n',' done!');
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end
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%% M-Functions
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if CGen.genmfun
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CGen.genmfuninvdyn;
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end
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%% Embedded Matlab Function Simulink blocks
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if CGen.genslblock
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CGen.genslblockinvdyn;
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end
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end
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