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81 lines
2.6 KiB
81 lines
2.6 KiB
%CODEGENERATOR.GENJACOBIAN Generate code for robot Jacobians
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%
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% J0 = cGen.genjacobian() is the symbolic expression for the Jacobian
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% matrix (6xN) expressed in the base coordinate frame.
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%
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% [J0, Jn] = cGen.genjacobian() as above but also returns the symbolic
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% expression for the Jacobian matrix (6xN) expressed in the end-effector
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% frame.
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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.genfkine.
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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 [J0, Jn] = genjacobian(CGen)
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%% Derivation of symbolic expressions
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CGen.logmsg([datestr(now),'\tDeriving robot jacobians']);
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q = CGen.rob.gencoords;
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J0 = CGen.rob.jacob0(q);
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Jn = CGen.rob.jacobn(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 robot jacobians']);
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CGen.savesym(J0,'jacob0','jacob0.mat');
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CGen.savesym(Jn,'jacobn','jacobn.mat');
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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.genmfunjacobian;
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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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CGen.genslblockjacobian;
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end
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end
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