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

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Mihir Deshmukh
Mihir Deshmukh 2020-9-1
回答： Ran Shaham 2022-1-20
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?

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Ran Shaham
Ran Shaham 2022-1-20
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.

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