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150 lines
6.3 KiB
150 lines
6.3 KiB
%CODEGENERATOR.GENSLBLOCKFDYN Generate Simulink block for forward dynamics
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%
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% cGen.genslblockfdyn() generates a robot-specific Simulink block to compute
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% forward dynamics.
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%
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% Notes::
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% - Is called by CodeGenerator.genfdyn if cGen has active flag genslblock
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% - The generated Simulink block is composed of previously generated blocks
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% for the inertia matrix, coriolis matrix, vector of gravitational load and
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% joint friction vector. The block recombines these components to compute
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% the forward dynamics.
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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.genfdyn.
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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 [] = genslblockfdyn(CGen)
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%% Open or create block library
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bdclose('all') % avoid problems with previously loaded libraries
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load_system('simulink');
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if ~(exist([CGen.slibpath,simulinkext]) == 2) % Create new block library if none exists
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CGen.createnewblocklibrary;
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end
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checkexistanceofblocks(CGen);
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open_system(CGen.slibpath);
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set_param(CGen.slib,'lock','off');
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%% Generate forward dynamics block
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CGen.logmsg([datestr(now),'\tGenerating Simulink Block for the forward dynamics\n']);
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nJoints = CGen.rob.n;
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CGen.logmsg([datestr(now),'\t\t... enclosing subsystem ']);
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symname = 'fdyn';
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forwDynamicsBlock = [CGen.slib,'/',symname];
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if ~isempty(find_system(CGen.slib,'SearchDepth',1,'Name',symname)) % Delete previously generated block
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delete_block(forwDynamicsBlock)
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save_system;
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end
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CGen.logmsg('\t%s\n',' done!');
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% add required blocks
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CGen.logmsg([datestr(now),'\t\t... adding Simulink blocks for all components']);
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add_block('built-in/SubSystem',forwDynamicsBlock);
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add_block([CGen.slib,'/invinertia'],[forwDynamicsBlock,'/invinertia']);
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add_block([CGen.slib,'/coriolis'],[forwDynamicsBlock,'/coriolis']);
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add_block([CGen.slib,'/gravload'],[forwDynamicsBlock,'/gravload']);
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add_block([CGen.slib,'/friction'],[forwDynamicsBlock,'/friction']);
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add_block('Simulink/Sinks/Out1',[forwDynamicsBlock,'/q']);
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add_block('Simulink/Sinks/Out1',[forwDynamicsBlock,'/qDot']);
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add_block('Simulink/Sinks/Out1',[forwDynamicsBlock,'/qDDot']);
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add_block('Simulink/Sources/In1',[forwDynamicsBlock,'/tau']);
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add_block('built-in/Sum',[forwDynamicsBlock,'/Sum'],'inputs','|+---');
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add_block('built-in/Product',[forwDynamicsBlock,'/invInertiaMultiply'],'multiplication','Matrix(*)');
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add_block('built-in/Product',[forwDynamicsBlock,'/coriolisMultiply'],'multiplication','Matrix(*)');
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add_block('built-in/Integrator',[forwDynamicsBlock,'/Integrator1']);
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add_block('built-in/Integrator',[forwDynamicsBlock,'/Integrator2']);
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CGen.logmsg('\t%s\n',' done!');
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% connect simulink blocks
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CGen.logmsg([datestr(now),'\t\t... wiring']);
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add_line(forwDynamicsBlock,'tau/1','Sum/1');
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add_line(forwDynamicsBlock,'invInertiaMultiply/1','qDDot/1');
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add_line(forwDynamicsBlock,'invInertiaMultiply/1','Integrator1/1');
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add_line(forwDynamicsBlock,'Integrator1/1','Integrator2/1');
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add_line(forwDynamicsBlock,'Integrator1/1','qDot/1');
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add_line(forwDynamicsBlock,'Integrator2/1','q/1');
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add_line(forwDynamicsBlock,'Integrator1/1','coriolis/2');
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add_line(forwDynamicsBlock,'Integrator1/1','coriolisMultiply/2');
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add_line(forwDynamicsBlock,'Integrator1/1','friction/1');
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add_line(forwDynamicsBlock,'Integrator2/1','coriolis/1');
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add_line(forwDynamicsBlock,'Integrator2/1','gravload/1');
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add_line(forwDynamicsBlock,'Integrator2/1','invinertia/1');
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add_line(forwDynamicsBlock,'invinertia/1','invInertiaMultiply/1');
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add_line(forwDynamicsBlock,'Sum/1','invInertiaMultiply/2');
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add_line(forwDynamicsBlock,'coriolisMultiply/1','Sum/2');
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add_line(forwDynamicsBlock,'gravload/1','Sum/3');
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add_line(forwDynamicsBlock,'friction/1','Sum/4');
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add_line(forwDynamicsBlock,'coriolis/1','coriolisMultiply/1');
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distributeblocks(forwDynamicsBlock);
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CGen.logmsg('\t%s\n',' done!');
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CGen.logmsg([datestr(now),'\tForward dynamics block complete\n']);
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%% Cleanup
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% Arrange blocks
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distributeblocks(CGen.slib);
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% Lock, save and close library
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set_param(CGen.slib,'lock','on');
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save_system(CGen.slib,CGen.slibpath);
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close_system(CGen.slib);
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end
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function [] = checkexistanceofblocks(CGen)
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open_system(CGen.slibpath);
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if isempty(find_system(CGen.slib,'SearchDepth',1,'Name','inertia')) || isempty(find_system(CGen.slib,'SearchDepth',1,'Name','invinertia'))
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CGen.logmsg('\t\t%s\n','Inertia block not found! Generating:');
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CGen.genslblockinertia;
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open_system(CGen.slibpath);
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end
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if isempty(find_system(CGen.slib,'SearchDepth',1,'Name','coriolis'))
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CGen.logmsg('\t\t%s\n','Coriolis block not found! Generating:');
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CGen.genslblockcoriolis;
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open_system(CGen.slibpath);
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end
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if isempty(find_system(CGen.slib,'SearchDepth',1,'Name','gravload'))
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CGen.logmsg('\t\t%s\n','Gravload block not found! Generating:');
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CGen.genslblockgravload;
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open_system(CGen.slibpath);
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end
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if isempty(find_system(CGen.slib,'SearchDepth',1,'Name','friction'))
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CGen.logmsg('\t\t%s\n','Friction block not found! Generating:');
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CGen.genslblockfriction;
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open_system(CGen.slibpath);
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end
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end
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