Conversion to double from struct is not possible.

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Massimo Lucia
Massimo Lucia 2020-5-5
评论： Massimo Lucia 2020-5-7
Can you please help me with this error message?
Conversion to double from struct is not possible.
Error in STABLE (line 80)
qs(i,:) = qSol;
Find attached the STABLE.m
https://it.mathworks.com/matlabcentral/answers/362553-conversion-to-double-from-struct-is-not-possible#comment_841695
This is what i get in the command window:
qSol =
1×7 struct array with fields:
JointName
JointPosition

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采纳的回答

Ameer Hamza
Ameer Hamza 2020-5-5
Chage following lines
Line 4:
robot = rigidBodyTree('DataFormat', 'row');
Line 85:
show(robot,qs(1,:));
Line 95
show(robot,qs(i,:),'PreservePlot',false);
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Ameer Hamza
Ameer Hamza 2020-5-6
Do it like this
robot = importrobot('xxxxxxx.urdf');
robot.DataFormat = 'row'; % or 'column'

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更多回答（1 个）

Bjorn Gustavsson
Bjorn Gustavsson 2020-5-5
This is obviously an operation that's not supported. If you look at the contens of one struct, you might find that the Jointname is a string, or a char-array. Those might be of different lengths (Al Dee or Vishvanatan Axelsson-Johnsson) - this makes it difficult to convert into a double array. Try with the fields of the struct separately:
Allpos = [qSol(:).JointPosition];
Allnames = char(qSol(:).Jointname)
HTH

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