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code generate for rigidBodyTree

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I want to generate c++ code from matlab code, some errors occur. Why can I solve it? Thanks!

Accepted Answer

Darshan Ramakant Bhat
Darshan Ramakant Bhat on 15 Apr 2020
Handle objects are not supported as entry point input / ouput for codegeneration :
Please try to modify your code to take non-handle class / structure as entrypoint input.

More Answers (1)

Francesco Ciriello
Francesco Ciriello on 29 Aug 2021
You can use the writeAsFunction to create a function from which you can load the rigidBodyTree. Check out this doc page:


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