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125 lines
4.4 KiB
125 lines
4.4 KiB
%CODEGENERATOR.GENMATVECPRODC Generates a matrix-vector product C-implementation.
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%
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% cGen.gendotprodc generates a .h and a .c file in the directory
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% specified by ccodepath.
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%
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% Notes::
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% - Is called by geninvdyn and genfdyn if cGen has active flag genmex or genccode.
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%
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% Authors::
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% Joern Malzahn (joern.malzahn@tu-dortmund.de)
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%
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% See also CodeGenerator, CodeGenerator.gengaussjordanc.
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% Copyright (C) 1993-2014, by Peter I. Corke
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% Copyright (C) 2014, 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 Lesser 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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function [] = genmatvecprodc(CGen)
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funname = 'matvecprod';
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funfilename = [funname,'.c'];
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hfilename = [funname,'.h'];
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srcDir = fullfile(CGen.ccodepath,'src');
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hdrDir = fullfile(CGen.ccodepath,'include');
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% Check for existance of dotProd C-files
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if exist(fullfile(srcDir,funfilename),'file') && exist(fullfile(srcDir,funfilename),'file')
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return;
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end
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% Check for existance of C-code directories
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if ~exist(srcDir,'dir')
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mkdir(srcDir);
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end
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if ~exist(hdrDir,'dir')
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mkdir(hdrDir);
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end
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% Create the function description header
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hStruct = createHeaderStruct(funname); % create header
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if ~isempty(hStruct)
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hFString = CGen.constructheaderstringc(hStruct);
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end
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%% Generate C implementation file
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fid = fopen(fullfile(srcDir,funfilename),'w+');
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% Function description header
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fprintf(fid,'%s\n\n',hFString);
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% Includes
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fprintf(fid,'%s\n\n',...
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['#include "', hfilename,'"']);
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% Function
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fprintf(fid,'%s\n',['void ', funname, '(double *outVector, const double *inMatrix, const double *inVector, int nRow, int nCol){']);
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fprintf(fid,'%s\n',' '); % empty line
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fprintf(fid,'\t%s\n','int iRow, iCol = 0;');
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fprintf(fid,'%s\n',' '); % empty line
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fprintf(fid,'\t%s\n','for (iRow = 0; iRow < nRow; iRow++){');
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fprintf(fid,'\t\t%s\n','for (iCol = 0; iCol < nCol; iCol++){');
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fprintf(fid,'\t\t\t%s\n','outVector[iCol] += inMatrix[nRow*iRow+iCol] * inVector[iRow];');
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fprintf(fid,'\t\t%s\n','}');
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fprintf(fid,'\t%s\n','} ');
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fprintf(fid,'%s\n','}');
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fclose(fid);
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%% Generate C header file
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fid = fopen(fullfile(hdrDir,hfilename),'w+');
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% Function description header
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fprintf(fid,'%s\n\n',hFString);
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% Include guard
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fprintf(fid,'%s\n%s\n\n',...
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['#ifndef ', upper([funname,'_h'])],...
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['#define ', upper([funname,'_h'])]);
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% Function prototype
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fprintf(fid,'%s\n\n',['void ',funname,'(double *outVector, const double *inMatrix, const double *inVector, int nRow, int nCol);']);
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% Include guard
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fprintf(fid,'%s\n',...
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['#endif /*', upper([funname,'_h */'])]);
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fclose(fid);
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CGen.logmsg('\t%s\n',' done!');
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end
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%% Definition of the function description header contents
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function hStruct = createHeaderStruct(fname)
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[~,hStruct.funName] = fileparts(fname);
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hStruct.shortDescription = ['Compute the product of a matrix and a vector'];
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hStruct.calls = ['void ',hStruct.funName,'(double *outVector, const double *inMatrix, const double *inVector, int nRow, int nCol)'];
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hStruct.detailedDescription = {['Given an [nRow x nCol] inMatrix and a nCol-element inVector, the function'],...
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'computes the nRow-element outVector as: outVector = inMatrix*inVector.'};
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hStruct.inputs = { ['inMatrix: [nRow x nCol] input matrix,'],...
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['inVector: nCol-element input vector,'],...
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['nRow: number of rows of inMatrix,'],...
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'nCol: number of columns of inMatrix and elements of inVector.'};
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hStruct.outputs = {['outVector: nRow-element output vector.']};
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hStruct.references = {'The C Book: http://publications.gbdirect.co.uk/c_book/'};
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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 (joern.malzahn@tu-dortmund.de)'};
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hStruct.seeAlso = {'CodeGenerator'};
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end
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