writeAsFunction
Description
writeAsFunction(
creates a function file that constructs the robot
,filename
)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: {[1x1 rigidBody] [1x1 rigidBody] [1x1 rigidBody] [1x1 rigidBody] [1x1 rigidBody] [1x1 rigidBody] [1x1 rigidBody] [1x1 rigidBody]} Base: [1x1 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'
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: {[1x1 rigidBody] [1x1 rigidBody] [1x1 rigidBody] [1x1 rigidBody] [1x1 rigidBody] [1x1 rigidBody] [1x1 rigidBody] [1x1 rigidBody]} Base: [1x1 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'
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
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