Matlab Coder fails generation for slerp() call with double quaternions

2 次查看（过去 30 天）
Kunal Patel
Kunal Patel 2020-10-30
评论： Kunal Patel 2020-11-9
I am using MATLAB coder to generate code for following function.
function [D] = getInterpolatedTransforms(q0,t0,q1,t1,steps,correction)
D = zeros(4,4,steps);
for i = 0:1:steps-1
coeff = single(i/steps);
qt = slerp(q0,q1,coeff);
tt = [t0*(1-coeff)+t1*coeff,1]';
D(1:3,1:3,i+1) = (quat2rotm(qt))*correction;
D(1:4,4,i+1) = tt;
end
end
I get following error while generating code at the "check for issues" step
??? This assignment writes a 'single' value into a 'double' type. Code generation does
not support changing types through assignment. Check preceding assignments or input
type specifications for type mismatches.
Error in ==>> quaternioncg Line: 48 Column: 17
Code generation failed: View Error Report
??? This assignment writes a 'single' value into a 'double' type. Code generation does
not support changing types through assignment. Check preceding assignments or input
type specifications for type mismatches.
Error in ==>> quaternioncg Line: 48 Column: 17
Code generation failed: View Error Report
The location of the error is in Matlab internal file quaternioncg.m
Please help me reolve the issue. I am new to this tool.

请先登录，再回答此问题。

采纳的回答

Darshan Ramakant Bhat
Solution 1 : Remove the single cast
function [D] = getInterpolatedTransforms(q0,t0,q1,t1,steps,correction)
D = zeros(4,4,steps);
for i = 0:1:steps-1
coeff = i/steps;
qt = slerp(q0,q1,coeff);
tt = [t0*(1-coeff)+t1*coeff,1]';
D(1:3,1:3,i+1) = (quat2rotm(qt))*correction;
D(1:4,4,i+1) = tt;
end
end
Solution 2: Make the input quaternion as single
>> a = quaternion(single([45,0,0]),'eulerd','ZYX','frame');
>> c = quaternion(single([-45,0,0]),'eulerd','ZYX','frame');
>> codegen getInterpolatedTransforms -args {a,1:3,c,3:5,10,0.5} -report

更多回答（0 个）

类别

在 Help Center 和 File Exchange 中查找有关 MATLAB Coder 的更多信息

标签

产品


版本

R2020b

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by