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84 lines
2.9 KiB
84 lines
2.9 KiB
%CODEGENERATOR.GENSLBLOCKGRAVLOAD Generate Simulink block for gravitational load
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%
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% cGen.genslblockgravload() generates a robot-specific Simulink block to compute
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% gravitational load.
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%
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% Notes::
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% - Is called by CodeGenerator.gengravload if cGen has active flag genslblock
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% - The Simulink blocks are generated and stored in a robot specific block
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% library cGen.slib in the directory 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.gengravload
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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 genslblockgravload(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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open_system(CGen.slibpath);
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set_param(CGen.slib,'lock','off');
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q = CGen.rob.gencoords;
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%% Generate Block
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CGen.logmsg([datestr(now),'\tGenerating Embedded Matlab Function Block for the vector of gravitational load 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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tmpStruct = load(fname);
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else
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error ('genslblockgravload:SymbolicsNotFound','Save symbolic expressions to disk first!')
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end
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blockaddress = [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(blockaddress)
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save_system;
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end
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symexpr2slblock(blockaddress,tmpStruct.(symname),'vars',{q});
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CGen.logmsg('\t%s\n',' done!');
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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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