How to import the rigid body tree for c code generation in matlab

I want to generate the c code for inverse kinematics calculations of my robot, but getting the error, that rigid body tree should be of handle class, and not able to generate the c code , can anyone guide me through this?

Answer 1

[Ran Shaham]

I Found a workaround that can help you.

Build the robot as usual in matlab, then use this :

robot.writeAsFunction('BuildRobot')

This will generate a code that automaitcly builds the rigidBodyTree. and this code can be compiled.

Just add the generated file to the compilation and run it instead of importing.