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91 lines
3.1 KiB
91 lines
3.1 KiB
%CODEGENERATOR.GENFKINE Generate code for forward kinematics
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%
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% T = cGen.genfkine() generates a symbolic homogeneous transform matrix (4x4) representing
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% the pose of the robot end-effector in terms of the symbolic joint coordinates q1, q2, ...
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%
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% [T, ALLT] = cGen.genfkine() as above but also generates symbolic homogeneous transform
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% matrices (4x4xN) for the poses of the individual robot joints.
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%
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% Notes::
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% - Side effects of execution depends on the cGen flags:
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% - saveresult: the symbolic expressions are saved to
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% disk in the directory specified by cGen.sympath
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% - genmfun: ready to use m-functions are generated and
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% provided via a subclass of SerialLink stored in cGen.robjpath
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% - genslblock: a Simulink block is generated and stored in a
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% robot specific block library cGen.slib in the directory
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% 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.geninvdyn, CodeGenerator.genjacobian.
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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 [t,allT] = genfkine(CGen)
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%% Derivation of symbolic expressions
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CGen.logmsg([datestr(now),'\tDeriving forward kinematics']);
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q = CGen.rob.gencoords;
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[t, allT] = CGen.rob.fkine(q);
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CGen.logmsg('\t%s\n',' done!');
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%% Save symbolic expressions
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if CGen.saveresult
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CGen.logmsg([datestr(now),'\tSaving symbolic forward kinematics up to end-effector frame']);
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CGen.savesym(t,'fkine','fkine.mat')
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CGen.logmsg('\t%s\n',' done!');
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CGen.logmsg([datestr(now),'\tSaving symbolic forward kinematics for joint']);
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for iJoint = 1:CGen.rob.n
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CGen.logmsg(' %s ',num2str(iJoint));
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tName = ['T0_',num2str(iJoint)];
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eval([tName,' = allT(:,:,',num2str(iJoint),');']);
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CGen.savesym(eval(tName),tName,[tName,'.mat']);
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end
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CGen.logmsg('\t%s\n',' done!');
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end
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%% M-Functions
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if CGen.genmfun
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CGen.genmfunfkine;
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end
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%% Embedded Matlab Function Simulink blocks
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if CGen.genslblock
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genslblockfkine(CGen);
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end
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end
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