How to interface Natural Point Motive (NatNet) with Simulink model?

Question

Or Hirshfeld 2014-10-6

0
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/157543-how-to-interface-natural-point-motive-natnet-with-simulink-model

评论： dhenke 2016-2-12

I need to create interface between Simulink to Motive I already succeed to interface between Matlab and Motive through NatNet, I reviewed the sample available with NatNet SDK to do so but I'm having trouble to migrate it to Simulink, I tried using Matlab function block unsuccessfully, it's have problem to use the dll command.

the error i got from Simulink is : Undefined function or variable 'NatNetML.NatNetClientML'.

I want to thanks Glen Lichtwark sample that helped me writing interface to matlab http://www.mathworks.com/matlabcentral/fileexchange/26449-tracking-tools--optitrack-

the code i tried is the follwing:

function [x,y,z,yaw,pitch,roll] = Location_Orinteation_Motive_64bit(RigidBody_ID) %#codegen
coder.extrinsic('–sync:on','quaternion','fullfile','NET.addAssembly','addpath')
dllPath = fullfile('c:','NatNetSDK2.5','lib','x64','NatNetML.dll');
assemblyInfo = NET.addAssembly(dllPath);
addpath('E:\Motive')
dllPath = fullfile('c:','NatNetSDK2.5','lib','x64','NatNetML.dll');
assemblyInfo = NET.addAssembly(dllPath);
theClient = NatNetML.NatNetClientML(0); % Input = iConnectionType: 0 = Multicast, 1 = Unicast
% Connect to an OptiTrack server (e.g. Motive)
HostIP = char('127.0.0.1');
theClient.Initialize(HostIP, HostIP); % Flg = returnCode: 0 = Success
% data
 frameOfData = theClient.GetLastFrameOfData()
 rigidBodyData = frameOfData.RigidBodies(RigidBody_ID)
 x=rigidBodyData.x
 y=rigidBodyData.y
 z=rigidBodyData.y
% angle 
q = quaternion( rigidBodyData.qx, rigidBodyData.qy, rigidBodyData.qz, rigidBodyData.qw ); % extrnal file quaternion.m
qRot = quaternion( 0, 0, 0, 1);     % rotate pitch 180 to avoid 180/-180 flip for nicer graphing
q = mtimes(q, qRot);
angles = EulerAngles(q,'zyx');
yaw = angles(2) * 180.0 / pi;
pitch = -angles(1) * 180.0 / pi;   % must invert due to 180 flip above
roll = -angles(3) * 180.0 / pi;   % must invert due to 180 flip above