code generate for rigidBodyTree

I want to generate c++ code from matlab code, some errors occur. Why can I solve it? Thanks!

Answer 1

[Darshan Ramakant Bhat]

Handle objects are not supported as entry point input / ouput for codegeneration :

https://www.mathworks.com/help/simulink/ug/how-working-with-matlab-classes-is-different-for-code-generation.html#btsyar3-1

Please try to modify your code to take non-handle class / structure as entrypoint input.

Answer 2

[Francesco Ciriello]

You can use the writeAsFunction to create a function from which you can load the rigidBodyTree. Check out this doc page: https://www.mathworks.com/help/robotics/ref/rigidbodytree.writeasfunction.html