writeAsFunction

Create rigidBodyTree code generating function

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

R2026a: The writeAsFunction object function now includes nonroot frames in generated robot models

The generated function file now constructs rigid body trees that include all root and nonroot frames defined in the original rigidBodyTree object. In prior releases, the generated function file includes only root frames from the original rigidBodyTree object.