Clear Filters
Clear Filters

Is there alternatives for coder.extrinsic call?

2 views (last 30 days)
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
Thanks for your help in advance.
Gergely Hunyady

Accepted Answer

Gergely Hunyady
Gergely Hunyady on 30 Sep 2019

More Answers (0)

Categories

Find more on Simulink Coder in Help Center and File Exchange

Products


Release

R2019b

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!