translate a script function into a matlab function for use in simulink

Question

Welid Benchouche 2022-7-26

0
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https://ww2.mathworks.cn/matlabcentral/answers/1768135-translate-a-script-function-into-a-matlab-function-for-use-in-simulink

回答： BhaTTa 2024-9-4

在 MATLAB Online 中打开

Subject: Translating a function that works using Matlab command into a Matlab function to be used in Simulink

Dear reader,

Greetings! I hope you're doing well

I have written a function that takes an intial condition, [ 0 0 0] , a right wheel ticks vector, and a left wheel ticks vector

the function works perfectly when i call it in matlab, but i want to work in simulink environnement, so i need to translate it into a matlab function, please help me with that.

Here is the function that works in matlab

function [filtered] = filtered_position(init,aa,ab)
w = 150; t2mm = 0.349;
filtered = zeros(length(aa),3);
for k = 1: length(aa)
    if aa(k) == ab(k)
        th = init(3);
        x = (init(1) + aa(k)*t2mm*cos(th));
        y = (init(2) + aa(k)*t2mm*sin(th));
%         scatter(x,y,'g')
        else
        alpha(k) = (t2mm*(aa(k)-ab(k)))/w; R(k) = aa(k)/alpha(k);
        th = mod(init(3) + alpha(k),2*pi);
        cx = init(1) - (R(k)+(w/2))*(sin(init(3)));
        cy = init(2) + (R(k)+(w/2))*(cos(init(3)));
        x = cx + (R(k)+(w/2))*(sin(th));
        y = cy - (R(k)+(w/2))*(cos(th));
%         scatter(x,y,'r')
    end
%     scatter(x,y,'r')
filtered(k,:) = [x,y,th]   ; 
init = [x,y,th];
end

You can call this function using this example:

[right_left] = [64       64
                128    128.5
                128.5    128.5
                128.5    128.5
                64     64.5
                64.5       64
                128.5    128.5
                64     64.5
                64.5       64
                128.5    128.5
                128.5    128.5
                128.5    128.5
                128.5    128.5
                64.5       64]
init = [0,0,0]
[filt] = filtered_position(init,right_left(:,1),right_left(:,2));
plot(filt(:,1),filt(:,2))