코드 생성

Perform code generation to compute Inverse Kinematics (IK) using robots from the robot library. For this example, you can use an inverseKinematics object with an included rigidBodyTree robot model using loadrobot to solve for robot configurations that achieve a desired end-effector position.

Generate code for planning manipulator motion in a perceived environment. Perceived environments can have a variable number of collision objects that can be a combination of heterogeneous types (spheres, cylinders, meshes, and boxes). This example uses the convertToCollisionMesh function to homogenize the cell array of collision objects by converting the primitive type objects to their mesh equivalents.

Configure Simulink® model as a 3-D shape tracing controller, and generate and deploy C++ code for the ros_control package.

Perform code generation to plan motion using robot model imported from URDF file. For this example, you use a manipulatorRRT object with a imported rigidBodyTree robot model to find a obstacle-free path between two configurations of the robot. After you verify the algorithm in MATLAB®, use the generated MEX file in the algorithm to visualize the robot movement.