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.
187 lines
7.8 KiB
187 lines
7.8 KiB
%CODEGENERATOR.GENSLBLOCKINERTIA Generate Simulink block for inertia matrix
|
|
%
|
|
% cGen.genslbgenslblockinertia() generates a robot-specific Simulink block to compute
|
|
% robot inertia matrix.
|
|
%
|
|
% Notes::
|
|
% - Is called by CodeGenerator.geninertia if cGen has active flag genslblock
|
|
% - The Inertia matrix is stored row by row to avoid memory issues.
|
|
% - The Simulink block recombines the the individual blocks for each row.
|
|
% - The Simulink blocks are generated and stored in a robot specific block
|
|
% library cGen.slib in the directory cGen.basepath.
|
|
%
|
|
% Author::
|
|
% Joern Malzahn
|
|
% 2012 RST, Technische Universitaet Dortmund, Germany.
|
|
% http://www.rst.e-technik.tu-dortmund.de
|
|
%
|
|
% See also CodeGenerator.CodeGenerator, CodeGenerator.geninertia.
|
|
|
|
% 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 genslblockinertia(CGen)
|
|
|
|
%% Open or create block library
|
|
bdclose('all') % avoid problems with previously loaded libraries
|
|
load_system('simulink');
|
|
if ~(exist([CGen.slibpath,simulinkext]) == 2) % Create new block library if none exists
|
|
CGen.createnewblocklibrary;
|
|
end
|
|
open_system(CGen.slibpath);
|
|
set_param(CGen.slib,'lock','off');
|
|
|
|
q = CGen.rob.gencoords;
|
|
|
|
%% Generate Inertia Block
|
|
CGen.logmsg([datestr(now),'\tGenerating Simulink Block for the robot inertia matrix\n']);
|
|
nJoints = CGen.rob.n;
|
|
|
|
CGen.logmsg([datestr(now),'\t\t... enclosing subsystem ']);
|
|
symname = 'inertia';
|
|
InertiaBlock = [CGen.slib,'/',symname];
|
|
if ~isempty(find_system(CGen.slib,'SearchDepth',1,'Name',symname)) % Delete previously generated inertia matrix block
|
|
delete_block(InertiaBlock);
|
|
save_system;
|
|
end
|
|
% Subsystem in which individual rows are concatenated
|
|
add_block('built-in/SubSystem',InertiaBlock); % Add new inertia matrix block
|
|
add_block('Simulink/Math Operations/Matrix Concatenate'...
|
|
, [InertiaBlock,'/inertia']...
|
|
, 'NumInputs',num2str(nJoints)...
|
|
, 'ConcatenateDimension','1');
|
|
add_block('Simulink/Sinks/Out1',[InertiaBlock,'/out']);
|
|
add_block('Simulink/Sources/In1',[InertiaBlock,'/q']);
|
|
add_line(InertiaBlock,'inertia/1','out/1');
|
|
CGen.logmsg('\t%s\n',' done!');
|
|
|
|
for kJoints = 1:nJoints
|
|
CGen.logmsg([datestr(now),'\t\t... Embedded Matlab Function Block for joint ',num2str(kJoints),': ']);
|
|
|
|
% Generate Embedded Matlab Function block for each row
|
|
symname = ['inertia_row_',num2str(kJoints)];
|
|
fname = fullfile(CGen.sympath,[symname,'.mat']);
|
|
|
|
if exist(fname,'file')
|
|
tmpStruct = load(fname);
|
|
else
|
|
error ('genslblockinertia:SymbolicsNotFound','Save symbolic expressions to disk first!')
|
|
end
|
|
|
|
blockaddress = [InertiaBlock,'/',symname];
|
|
if doesblockexist(CGen.slib,symname)
|
|
delete_block(blockaddress);
|
|
save_system;
|
|
end
|
|
|
|
CGen.logmsg('%s',' block creation');
|
|
symexpr2slblock(blockaddress,tmpStruct.(symname),'vars',{q});
|
|
|
|
|
|
% connect output
|
|
CGen.logmsg('%s',', output wiring');
|
|
if ( verLessThan('matlab','7.11.0.584') ) && ( isequal(tmpStruct.(symname),zeros(1,nJoints)) )
|
|
% There is a bug in earlier Matlab versions. If the symbolic
|
|
% vector is a zero vector, then the Simulink Embedded Matlab
|
|
% Function block outputs a scalar zero. We need to concatenate
|
|
% a row vector of zeros here, which we have to construct on our
|
|
% own.
|
|
add_block('Simulink/Math Operations/Matrix Concatenate'... % Use a matrix concatenation block ...
|
|
, [InertiaBlock,'/DimCorrection',num2str(kJoints)]... % ... named with the current row number ...
|
|
, 'NumInputs',num2str(nJoints),'ConcatenateDimension','2'); % ... intended to concatenate zero values for each joint ...
|
|
% ... columnwise. This will circumvent the bug.
|
|
|
|
for iJoints = 1:nJoints % Connect signal lines from the created block (which outputs
|
|
add_line(InertiaBlock... % a scalar zero in this case) with the bugfix block.
|
|
, [symname,'/1']...
|
|
, ['DimCorrection',num2str(kJoints),'/', num2str(iJoints)]);
|
|
end
|
|
|
|
add_line(InertiaBlock,['DimCorrection',num2str(kJoints)... % Connect the fixed row with other rows.
|
|
, '/1'],['inertia/', num2str(kJoints)]);
|
|
|
|
else
|
|
add_line(InertiaBlock,[symname,'/1']... % In case that no bug occurs, we can just connect the rows.
|
|
, ['inertia/', num2str(kJoints)]);
|
|
end
|
|
|
|
% Connect inputs
|
|
CGen.logmsg('%s',', input wiring');
|
|
add_line(InertiaBlock,'q/1',[symname,'/1']);
|
|
CGen.logmsg('\t%s\n','row complete!');
|
|
end
|
|
addterms(InertiaBlock); % Add terminators where needed
|
|
distributeblocks(InertiaBlock);
|
|
CGen.logmsg([datestr(now),'\tInertia matrix block complete\n']);
|
|
|
|
|
|
%% Built inverse Inertia matrix block
|
|
CGen.logmsg([datestr(now),'\tGenerating Simulink Block for the inverse robot inertia matrix\n']);
|
|
CGen.logmsg([datestr(now),'\t\t... enclosing subsystem ']);
|
|
% block address
|
|
symname = 'invinertia';
|
|
invInertiaBlock = [CGen.slib,'/',symname];
|
|
% remove any existing blocks
|
|
if ~isempty(find_system(CGen.slib,'SearchDepth',1,'Name',symname)) % Delete previously generated block
|
|
delete_block(invInertiaBlock);
|
|
save_system;
|
|
end
|
|
add_block('built-in/SubSystem',invInertiaBlock);
|
|
CGen.logmsg('\t%s\n',' done!');
|
|
|
|
% matrix inversion
|
|
CGen.logmsg([datestr(now),'\t\t... matrix inversion block ']);
|
|
add_block('Simulink/Math Operations/Product',[invInertiaBlock,'/inverse']); % Use a product block...
|
|
set_param([invInertiaBlock,'/inverse'],'Inputs','/'); % ... with single input '/'...
|
|
set_param([invInertiaBlock,'/inverse'],'Multiplication','Matrix(*)'); % ... and matrix multiplication
|
|
CGen.logmsg('\t%s\n',' done!');
|
|
|
|
% wire the input and output
|
|
CGen.logmsg([datestr(now),'\t\t... input and output ']);
|
|
add_block(InertiaBlock,[invInertiaBlock,'/inertiaMatrix']);
|
|
add_block('Simulink/Sources/In1',[invInertiaBlock,'/q']);
|
|
add_block('Simulink/Sinks/Out1',[invInertiaBlock,'/out']);
|
|
|
|
|
|
% wire the blocks among each other
|
|
CGen.logmsg('and internal wiring');
|
|
add_line(invInertiaBlock,'q/1','inertiaMatrix/1');
|
|
add_line(invInertiaBlock,'inertiaMatrix/1','inverse/1');
|
|
add_line(invInertiaBlock,'inverse/1','out/1');
|
|
CGen.logmsg('\t%s\n',' done!');
|
|
|
|
% add terminators where necessary
|
|
addterms(invInertiaBlock);
|
|
distributeblocks(invInertiaBlock);
|
|
CGen.logmsg([datestr(now),'\tInverse inertia matrix block complete.\n']);
|
|
|
|
%% Cleanup
|
|
% Arrange blocks
|
|
distributeblocks(CGen.slib);
|
|
|
|
% Lock, save and close library
|
|
set_param(CGen.slib,'lock','on');
|
|
save_system(CGen.slib,CGen.slibpath);
|
|
close_system(CGen.slib);
|
|
|
|
end
|