Is there alternatives for coder.extrinsic call?

Question

0 개 추천

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