Is there alternatives for coder.extrinsic call?
조회 수: 3 (최근 30일)
이전 댓글 표시
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
댓글 수: 0
채택된 답변
추가 답변 (0개)
참고 항목
카테고리
Help Center 및 File Exchange에서 General Applications에 대해 자세히 알아보기
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!