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149 lines
6.5 KiB
149 lines
6.5 KiB
%CODEGENERATION.GENMFUNINERTIA Generate M-function for robot inertia matrix
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%
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% cGen.genmfuninertia() generates a robot-specific M-function to compute
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% robot inertia matrix.
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%
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% Notes::
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% - Is called by CodeGenerator.geninertia if cGen has active flag genmfun
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% - The inertia matrix is stored row by row to avoid memory issues.
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% - The generated M-function recombines the individual M-functions for each row.
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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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%
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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.gencoriolis.
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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 [] = genmfuninertia(CGen)
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%% Does robot class exist?
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if ~exist(fullfile(CGen.robjpath,[CGen.getrobfname,'.m']),'file')
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CGen.logmsg([datestr(now),'\tCreating ',CGen.getrobfname,' m-constructor ']);
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CGen.createmconstructor;
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CGen.logmsg('\t%s\n',' done!');
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end
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%%
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CGen.logmsg([datestr(now),'\tGenerating m-function for the robot inertia matrix row' ]);
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q = CGen.rob.gencoords;
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nJoints = CGen.rob.n;
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for kJoints = 1:nJoints
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CGen.logmsg(' %s ',num2str(kJoints));
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symname = ['inertia_row_',num2str(kJoints)];
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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 ('genmfuninertia:SymbolicsNotFound','Save symbolic expressions to disk first!')
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end
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funfilename = fullfile(CGen.robjpath,[symname,'.m']);
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matlabFunction(tmpStruct.(symname),'file',funfilename,... % generate function m-file
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'outputs', {'Irow'},...
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'vars', {'rob',[q]});
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hStruct = createHeaderStructRow(CGen.rob,kJoints,symname); % replace autogenerated function header
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replaceheader(CGen,hStruct,funfilename);
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end
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CGen.logmsg('\t%s\n',' done!');
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CGen.logmsg([datestr(now),'\tGenerating full inertia matrix m-function']);
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funfilename = fullfile(CGen.robjpath,'inertia.m');
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hStruct = createHeaderStructFullInertia(CGen.rob,funfilename);
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fid = fopen(funfilename,'w+');
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fprintf(fid, '%s\n', ['function I = inertia(rob,q)']); % Function definition
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fprintf(fid, '%s\n',constructheaderstring(CGen,hStruct)); % Header
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fprintf(fid, '%s \n', 'I = zeros(length(q));'); % Code
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for iJoints = 1:nJoints
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funcCall = ['I(',num2str(iJoints),',:) = ','rob.inertia_row_',num2str(iJoints),'(q);'];
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fprintf(fid, '%s \n', funcCall);
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end
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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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function hStruct = createHeaderStructRow(rob,curJointIdx,fName)
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[~,hStruct.funName] = fileparts(fName);
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hStruct.shortDescription = ['Computation of the robot specific inertia matrix row for corresponding to joint ', num2str(curJointIdx), ' of ',num2str(rob.n),'.'];
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hStruct.calls = {['Irow = ',hStruct.funName,'(rob,q)'],...
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['Irow = rob.',hStruct.funName,'(q)']};
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hStruct.detailedDescription = {'Given a full set of joint variables this function computes the',...
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['inertia matrix row number ', num2str(curJointIdx),' of ',num2str(rob.n),' for ',rob.name,'.']};
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hStruct.inputs = { ['rob: robot object of ', rob.name, ' specific class'],...
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['q: ',int2str(rob.n),'-element vector of generalized'],...
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' coordinates',...
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'Angles have to be given in radians!'};
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hStruct.outputs = {['Irow: [1x',int2str(rob.n),'] row of the robot inertia matrix']};
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hStruct.references = {'1) Robot Modeling and Control - Spong, Hutchinson, Vidyasagar',...
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'2) Modelling and Control of Robot Manipulators - Sciavicco, Siciliano',...
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'3) Introduction to Robotics, Mechanics and Control - Craig',...
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'4) 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',...
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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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hStruct.seeAlso = {'coriolis'};
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end
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function hStruct = createHeaderStructFullInertia(rob,fname)
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[~,hStruct.funName] = fileparts(fname);
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hStruct.shortDescription = ['Inertia matrix for the ',rob.name,' arm.'];
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hStruct.calls = {['I = ',hStruct.funName,'(rob,q)'],...
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['I = rob.',hStruct.funName,'(q)']};
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hStruct.detailedDescription = {'Given a full set of joint variables the function computes the',...
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'inertia Matrix of the robot.'};
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hStruct.inputs = { ['rob: robot object of ', rob.name, ' specific class'],...
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['q: ',int2str(rob.n),'-element vector of generalized'],...
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' coordinates',...
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'Angles have to be given in radians!'};
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hStruct.outputs = {['I: [',int2str(rob.n),'x',int2str(rob.n),'] inertia matrix']};
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hStruct.references = {'1) Robot Modeling and Control - Spong, Hutchinson, Vidyasagar',...
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'2) Modelling and Control of Robot Manipulators - Sciavicco, Siciliano',...
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'3) Introduction to Robotics, Mechanics and Control - Craig',...
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'4) 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',...
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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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hStruct.seeAlso = {'coriolis'};
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end
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