writeAsFunction

Create rigidBodyTree code generating function

Since R2021a

Syntax

writeAsFunction(robot,filename)

Description

writeAsFunction(robot,filename) creates a function file that constructs the rigidBodyTree object. The created function supports code generation.

Examples

Create Rigid Body Tree Code Generating Function

Load a robot model as a rigidBodyTree object.

robot = loadrobot("kinovaGen3")

robot = 
  rigidBodyTree with properties:

     NumBodies: 8
        Bodies: {[1×1 rigidBody]  [1×1 rigidBody]  [1×1 rigidBody]  [1×1 rigidBody]  [1×1 rigidBody]  [1×1 rigidBody]  [1×1 rigidBody]  [1×1 rigidBody]}
          Base: [1×1 rigidBody]
     BodyNames: {'Shoulder_Link'  'HalfArm1_Link'  'HalfArm2_Link'  'ForeArm_Link'  'Wrist1_Link'  'Wrist2_Link'  'Bracelet_Link'  'EndEffector_Link'}
      BaseName: 'base_link'
       Gravity: [0 0 0]
    DataFormat: 'struct'
    FrameNames: {'base_link'  'Shoulder_Link'  'HalfArm1_Link'  'HalfArm2_Link'  'ForeArm_Link'  'Wrist1_Link'  'Wrist2_Link'  'Bracelet_Link'  'EndEffector_Link'}

Show the robot model in a figure.

show(robot);

Create a code generating function that constructs the rigidBodyTree object.

writeAsFunction(robot,'KG3Codegen')

Construct the robot model using the generated function.

rbt = KG3Codegen

rbt = 
  rigidBodyTree with properties:

     NumBodies: 8
        Bodies: {[1×1 rigidBody]  [1×1 rigidBody]  [1×1 rigidBody]  [1×1 rigidBody]  [1×1 rigidBody]  [1×1 rigidBody]  [1×1 rigidBody]  [1×1 rigidBody]}
          Base: [1×1 rigidBody]
     BodyNames: {'Shoulder_Link'  'HalfArm1_Link'  'HalfArm2_Link'  'ForeArm_Link'  'Wrist1_Link'  'Wrist2_Link'  'Bracelet_Link'  'EndEffector_Link'}
      BaseName: 'base_link'
       Gravity: [0 0 0]
    DataFormat: 'struct'
    FrameNames: {'base_link'  'Shoulder_Link'  'HalfArm1_Link'  'HalfArm2_Link'  'ForeArm_Link'  'Wrist1_Link'  'Wrist2_Link'  'Bracelet_Link'  'EndEffector_Link'}

Show the robot model in a figure.

show(rbt);

Input Arguments

robot — Robot model

rigidBodyTree object

Robot model, specified as a rigidBodyTree object.

filename — Name of function file

string scalar | character vector

Name of the function file, specified as a string scalar or character vector. The name must be a valid MATLAB^® name (must start with a letter and contain only letters, numbers and underscores).

Example: "iiwa14Codegen"

Data Types: char | string

Version History

Introduced in R2021a