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90 lines
3.6 KiB
90 lines
3.6 KiB
%CODEGENERATOR.GENMEXFRICTION Generate C-MEX-function for joint friction
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%
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% cGen.genmexfriction() generates a robot-specific MEX-function to compute
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% the vector of joint friction.
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%
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% Notes::
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% - Is called by CodeGenerator.genfriction if cGen has active flag genmex
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% - The MEX file uses the .c and .h files generated in the directory
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% specified by the ccodepath property of the CodeGenerator object.
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% - Access to generated function is provided via subclass of SerialLink
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% whose class definition is stored in cGen.robjpath.
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% - You will need a C compiler to use the generated MEX-functions. See the
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% MATLAB documentation on how to setup the compiler in MATLAB.
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% Nevertheless the basic C-MEX-code as such may be generated without a
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% compiler. In this case switch the cGen flag compilemex to false.
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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.gengravload.
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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 [] = genmexfriction(CGen)
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%% Forward kinematics up to tool center point
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CGen.logmsg([datestr(now),'\tGenerating friction vector MEX-function: ']);
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symname = 'friction';
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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 ('genmfungravload:SymbolicsNotFound','Save symbolic expressions to disk first!')
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end
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funfilename = fullfile(CGen.robjpath,[symname,'.c']);
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[QD] = CGen.rob.gencoords;
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% Function description header
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hStruct = createHeaderStruct(CGen.rob,symname);
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% Generate and compile MEX function
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CGen.mexfunction(tmpStruct.(symname),...
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'funfilename',funfilename,...
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'funname',[CGen.getrobfname,'_',symname],...
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'vars',{QD},...
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'output','F',...
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'header',hStruct);
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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(rob,fname)
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[~,hStruct.funName] = fileparts(fname);
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hStruct.calls = '';
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hStruct.shortDescription = ['Joint friction for the ',rob.name,' arm.'];
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hStruct.detailedDescription = {['Given a full set of generalized joint velocities the function'],...
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'computes the friction forces/torques. Angles have to be given in radians!'};
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hStruct.inputs = { ['input1: ',int2str(rob.n),'-element vector of generalized velocities.']};
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hStruct.outputs = {['F: [',int2str(rob.n),'x1] output vector of joint friction forces/torques.']};
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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 = {'gravload'};
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end
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