Use Matlab function inside Simulink MATLAB function

Hey,

I want to edit the point cloud data that the Simulation 3D Lidar block generates.

The data that is outputs I first need to convert into a pointcloud, similar is done with the helperGetPointCloud function that is used in multiple examples of working with the Simulation 3D Lidar block.

This function shows that it first creates a pointcloud from the data, so that is what i wanted to do first.

However when i tried that with this small function block in simulink:

function MultibeamPointCloud = Multibeamdata(PointClouddata)

MultibeamPointCloud = pointCloud(PointClouddata);

end

It will not work and i get the following error message:

Simulink does not have enough information to determine output sizes for this block. If you think the errors below are inaccurate, try specifying types for the block inputs and/or sizes for the block outputs.

Component:MATLAB Function | Category:Coder error

A top-level output parameter containing a class is not supported in MATLAB Function Block. Output parameter 'MultibeamPointCloud' contains a class. Function 'Subsystem/Create Multibeam data' (#264.9.28), line 1, column 10: "MultibeamPointCloud" Launch diagnostic report.

Component:MATLAB Function | Category:Coder error

Errors occurred during parsing of MATLAB function 'OwnSimulation/Subsystem/Create Multibeam data'

Component:MATLAB Function | Category:Coder error

Simulink cannot determine sizes and/or types of the outputs for block 'OwnSimulation/Subsystem/Create Multibeam data' due to errors in the block body, or limitations of the underlying analysis. The errors might be inaccurate. Fix the indicated errors, or explicitly specify sizes and/or types for all block outputs.

Component:MATLAB Function | Category:Coder error

I dont understand what this error means and how i can fix it, can anybody help me with this problem?

Answer 1

[Prabhan Purwar]

Hi,

MATLAB Function block only support output such as scalar, vector and matrix. Output generated from pointCloud is a pointCloud object which requires class to handel in simulink.

Following example illustrates the pointCloud object support in Simulink:

• https://www.mathworks.com/help/fusion/ug/tracking-vehicles-using-lidar-in-simulink.html

For further insights kindly refer to the following links:

• https://www.mathworks.com/help/simulink/slref/matlabfunction.html#f7-2761585_blockchar (MATLAB Function)
• https://www.mathworks.com/help/simulink/ug/comparison-of-custom-block-functionality.html (Comparison of custom block functionality)

Thanks