Is there alternatives for coder.extrinsic call?

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Gergely Hunyady on 30 Sep 2019
Hy,
I would like to solve a simple 2 variable equation in Simulink and found this method, but it seems to be unprofessional and slows down simulation (maybe) because of the iterative call for the function.
Is there any other method to solve symbolic functions in Simulink Matlab Function module?
function RefPoint = SymsFcn(P, CTPosition, RefLineNormVector, ErrLineNormVector)
syms x y;
f1 = RefLineNormVector(1)*x + RefLineNormVector(2)*y ...
== RefLineNormVector(1)*P(1) + RefLineNormVector(2)*P(2);
f2 = ErrLineNormVector(1)*x + ErrLineNormVector(2)*y ...
== ErrLineNormVector(1)*CTPosition(1) + ErrLineNormVector(2)*CTPosition(2);
RefPoint = solve([f1 f2], [x y]);
end
function [LateralError,OrientationError] = ErrorCalculation(XPosition, YPosition, Orientation, ID, TestPath)
RefLine = [(TestPath(ID+1,1) - TestPath(ID,1)), (TestPath(ID+1,2) - TestPath(ID,2))];
RefOrient = CalcDeg(RefLine(1), RefLine(2), 'deg');
OrientationError = Orientation - RefOrient;
RefLineNormVector = Transform(RefLine', [0 0], 90); %90 degrees CCW rotation
ErrLineNormVector = Transform(RefLine', [0 0], 180); %180 degrees CCW rotation
coder.extrinsic('SymsFcn');
ErrorRefPoint = double(SymsFcn(TestPath(ID,:), [XPosition, YPosition], RefLineNormVector, ErrLineNormVector));
LateralError = sqrt((XPosition - ErrorRefPoint(1))^2 + (YPosition - ErrorRefPoint(2))^2);
end

Gergely Hunyady on 30 Sep 2019

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