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214 lines
7.2 KiB
214 lines
7.2 KiB
%CODEGENERATOR.GENCCODEJACOBIAN Generate C-functions for robot jacobians
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%
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% cGen.genccodejacobian() generates a robot-specific C-function to compute
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% the jacobians with respect to the robot base as well as the end effector.
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%
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% Notes::
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% - Is called by CodeGenerator.genjacobian if cGen has active flag genccode or
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% genmex.
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% - The generated .c and .h files are generated in the directory specified
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% by the ccodepath property of the CodeGenerator object.
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%
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% Author::
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% Joern Malzahn, (joern.malzahn@tu-dortmund.de)
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%
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% See also CodeGenerator.CodeGenerator, CodeGenerator.genccodefkine, CodeGenerator.genjacobian.
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% Copyright (C) 2012-2014, 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 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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function [] = genccodejacobian(CGen)
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%% Check for existance symbolic expressions
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% Load symbolics
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symname = 'jacob0';
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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 ('genmfunfkine:SymbolicsNotFound','Save symbolic expressions to disk first!')
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end
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%% Jacobian w.r.t. the robot base
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CGen.logmsg([datestr(now),'\tGenerating jacobian C-code with respect to the robot base frame']);
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% Prerequesites
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% check for existance of C-code directories
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srcDir = fullfile(CGen.ccodepath,'src');
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hdrDir = fullfile(CGen.ccodepath,'include');
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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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funname = [CGen.getrobfname,'_',symname];
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funfilename = [funname,'.c'];
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hfilename = [funname,'.h'];
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Q = CGen.rob.gencoords;
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% Convert symbolic expression into C-code
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[funstr hstring] = ccodefunctionstring(tmpStruct.(symname),...
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'funname',funname,...
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'vars',{Q},'output','J0');
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% Create the function description header
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hStruct = createHeaderStructJacob0(CGen.rob,funname); % create header
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hStruct.calls = hstring;
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hFString = CGen.constructheaderstringc(hStruct);
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%% Generate C implementation file
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fid = fopen(fullfile(srcDir,funfilename),'w+');
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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\n',funstr);
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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([symname,'_h'])],...
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['#define ', upper([symname,'_h'])]);
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% Includes
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fprintf(fid,'%s\n\n',...
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'#include "math.h"');
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% Function signature
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fprintf(fid,'%s\n\n',hstring);
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% Include guard
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fprintf(fid,'%s\n',...
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['#endif /*', upper([symname,'_h */'])]);
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fclose(fid);
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CGen.logmsg('\t%s\n',' done!');
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%% Jacobian w.r.t. the robot end effector
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% Load symbolics
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symname = 'jacobn';
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fname = fullfile(CGen.sympath,[symname,'.mat']);
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if exist(fname,'file')
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CGen.logmsg([datestr(now),'\tGenerating jacobian C-code with respect to the robot end-effector frame']);
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tmpStruct = load(fname);
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else
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error ('genMFunJacobian:SymbolicsNotFound','Save symbolic expressions to disk first!')
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end
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funname = [CGen.getrobfname,'_',symname];
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funfilename = [funname,'.c'];
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hfilename = [funname,'.h'];
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% Convert symbolic expression into C-code
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[funstr hstring] = ccodefunctionstring(tmpStruct.(symname),...
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'funname',funname,...
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'vars',{Q},'output','Jn');
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% Create the function description header
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hStruct = createHeaderStructJacobn(CGen.rob,funname); % create header
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hStruct.calls = hstring;
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hFString = CGen.constructheaderstringc(hStruct);
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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\n',funstr);
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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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% 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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% Includes
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fprintf(fid,'%s\n\n',...
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'#include "math.h"');
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% Function signature
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fprintf(fid,'%s\n\n',hstring);
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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 for each generated file
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function hStruct = createHeaderStructJacob0(rob,fname)
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[~,hStruct.funName] = fileparts(fname);
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hStruct.shortDescription = ['C code for the Jacobian with respect to the base coordinate frame of the ',rob.name,' arm.'];
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hStruct.detailedDescription = {['Given a full set of joint variables the function'],...
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'computes the robot jacobian with respect to the base frame. Angles have to be given in radians!'};
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hStruct.inputs = {['input1: ',int2str(rob.n),'-element vector of generalized coordinates.']};
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hStruct.outputs = {['J0: [6x',num2str(rob.n),'] Jacobian matrix']};
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hStruct.references = {'Robot Modeling and Control - Spong, Hutchinson, Vidyasagar',...
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'Modelling and Control of Robot Manipulators - Sciavicco, Siciliano',...
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'Introduction to Robotics, Mechanics and Control - Craig',...
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'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 (joern.malzahn@tu-dortmund.de)'};
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hStruct.seeAlso = {'fkine,jacobn'};
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end
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%% Definition of the header contents for each generated file
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function hStruct = createHeaderStructJacobn(rob,fname)
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[~,hStruct.funName] = fileparts(fname);
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hStruct.shortDescription = ['C code for the Jacobian with respect to the end-effector coordinate frame of the ',rob.name,' arm.'];
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hStruct.detailedDescription = {['Given a full set of joint variables the function'],...
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'computes the robot jacobian with respect to the end-effector frame. Angles have to be given in radians!'};
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hStruct.inputs = {['input1: ',int2str(rob.n),'-element vector of generalized coordinates.']};
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hStruct.outputs = {['Jn: [6x',num2str(rob.n),'] Jacobian matrix']};
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hStruct.references = {'Robot Modeling and Control - Spong, Hutchinson, Vidyasagar',...
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'Modelling and Control of Robot Manipulators - Sciavicco, Siciliano',...
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'Introduction to Robotics, Mechanics and Control - Craig',...
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'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 (joern.malzahn@tu-dortmund.de)'};
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hStruct.seeAlso = {'fkine,jacob0'};
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end
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