use of symbols in simulink

Hi all,

I have a function called "IK" that calculates the Inverse kinematics of a robot using the Jacobian. This same code calls another function called "GJM" that computes the Jacobian using symbols.

Is it possible to use a simulink block that calculates the desired value of the output of the first function "IK", updating the symbolic values at each time step. I cannot simply use a Matlab function because the symbols do not explicitly appear in the matrix.

Please let me know if you need more details to help me. I can post the code itself.

Thank you all

Answer 1

[Sed]

Hello,

I managed to fix the problem by calling another function inside the function "IK" to calculate the numerical values of the matrices using "double" then the whole function is called inside the Simulink matlab function block through "coder.extrinsic"

I hope this would help anyone. If you have any other suggestions please let me know :)