mex codegen issue: Class insfilterNonholonomic is not supported by coder.Type as it is a handle class.
7 Ansichten (letzte 30 Tage)
Ältere Kommentare anzeigen
fixusc
am 17 Dez. 2021
Kommentiert: fixusc
am 22 Dez. 2021
Dear Matlab community,
I have a function (see attachment) that I would like to compile to c++ to increase performance and I am following this tutorial. When I run
load('KFmex_data.mat');
codegen -report KFmex.m -args {KF,t_imu,Accel,Gyro,t_gnss,Pos,Vel,Rpos,Rvel,GNSS_step} -test -test;
I get the following error:
Function input at args{1} does not have a valid type.
Caused by:
Class insfilterNonholonomic is not supported by coder.Type as it is a handle class.
Use help codegen for more information on using this command.
Error using codegen
However, according to the documentation of insfilterNonholonomic, this should be fully supported. What am I doing wrong here? Is this a bug?
Any kind of help is much appreciated!
0 Kommentare
Akzeptierte Antwort
Gargi Patil
am 20 Dez. 2021
Hi,
Code generation does not support handle class objects as entry point arguments. You can refer to the linked documentation for more information. Therefore, insfilterNonholonomic objects can not be passed as inputs to a code generation function.
However, the code generation support indicated in the documentation of insfilterNonholonomic allows usage of its objects within the function as follows:
function [state,covariance,stddev] = KFmex(t_imu,Accel,Gyro,t_gnss,Pos,Vel,Rpos,Rvel,GNSS_step) %#codegen
%%KF as an arugment has been removed
KF = insfilterNonholonomic; %Example
%%Code generation will not throw an error
j = 1;
k = 1;
...
end
Kindly note that loading the variable KF within the function using the load command is not viiable for the same reason as above.
2 Kommentare
Weitere Antworten (0)
Siehe auch
Kategorien
Mehr zu Generating Code finden Sie in Help Center und File Exchange
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!