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94 lines
4.1 KiB
94 lines
4.1 KiB
%CODEGENERATOR.GENMFUNGRAVLOAD Generate M-functions for gravitational load
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%
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% cGen.genmfungravload() generates a robot-specific M-function to compute
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% gravitation load forces and torques.
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%
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% Notes::
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% - Is called by CodeGenerator.gengravload if cGen has active flag genmfun
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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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%
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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.geninertia.
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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 [] = genmfungravload(CGen)
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%% Does robot class exist?
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if ~exist(fullfile(CGen.robjpath,[CGen.getrobfname,'.m']),'file')
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CGen.logmsg([datestr(now),'\tCreating ',CGen.getrobfname,' m-constructor ']);
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CGen.createmconstructor;
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CGen.logmsg('\t%s\n',' done!');
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end
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CGen.logmsg([datestr(now),'\tGenerating m-function for the vector of gravitational load torques/forces' ]);
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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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tmpStruct = load(fname);
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else
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error ('genmfungravload:SymbolicsNotFound','Save symbolic expressions to disk first!')
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end
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funfilename = fullfile(CGen.robjpath,[symname,'.m']);
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q = CGen.rob.gencoords;
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matlabFunction(tmpStruct.(symname),'file',funfilename,... % generate function m-file
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'outputs', {'G'},...
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'vars', {'rob',[q]});
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hStruct = createHeaderStructGravity(CGen.rob,symname); % replace autogenerated function header
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replaceheader(CGen,hStruct,funfilename);
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CGen.logmsg('\t%s\n',' done!');
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end
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function hStruct = createHeaderStructGravity(rob,fname)
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[~,hStruct.funName] = fileparts(fname);
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hStruct.shortDescription = ['Computation of the configuration dependent vector of gravitational load forces/torques for ',rob.name];
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hStruct.calls = {['G = ',hStruct.funName,'(rob,q)'],...
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['G = rob.',hStruct.funName,'(q)']};
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hStruct.detailedDescription = {'Given a full set of joint variables this function computes the',...
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'configuration dependent vector of gravitational load forces/torques.'};
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hStruct.inputs = { ['rob: robot object of ', rob.name, ' specific class'],...
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['q: ',int2str(rob.n),'-element vector of generalized'],...
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' coordinates',...
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'Angles have to be given in radians!'};
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hStruct.outputs = {['G: [',int2str(rob.n),'x1] vector of gravitational load forces/torques']};
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hStruct.references = {'1) Robot Modeling and Control - Spong, Hutchinson, Vidyasagar',...
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'2) Modelling and Control of Robot Manipulators - Sciavicco, Siciliano',...
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'3) Introduction to Robotics, Mechanics and Control - Craig',...
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'4) 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',...
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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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hStruct.seeAlso = {'inertia'};
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end
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