Code Generation

Generate C/C++ code and MEX functions for algorithm acceleration and standalone ROS nodes

MATLAB^®Coder™generates standalone C/C++ code from Robotics System Toolbox™ functions and classes that have been enabled to support code generation. Using the toolbox withMATLAB Coder, you can generate ANSI-compliant C code or MEX functions.

Also, you can generate C++ code for a standalone ROS node from a Simulink^®model. You can then transfer and run the generated C++ code in a Linux ROS environment, which is built and run independent of Simulink. SeeGenerate a Standalone ROS Node from Simulink®for an example generating a standalone ROS node.

The listed functions, classes, and blocks support code generation with Robotics System Toolbox.

Functions

Coordinate Transformations

`axang2quat`	Convert axis-angle rotation to quaternion
`axang2rotm`	Convert axis-angle rotation to rotation matrix
`axang2tform`	Convert axis-angle rotation to homogeneous transformation

`eul2quat`	Convert Euler angles to quaternion
`eul2rotm`	Convert Euler angles to rotation matrix
`eul2tform`	Convert Euler angles to homogeneous transformation

`quat2axang`	Convert quaternion to axis-angle rotation
`quat2eul`	Convert quaternion to Euler angles
`quat2rotm`	Convert quaternion to rotation matrix
`quat2tform`	Convert quaternion to homogeneous transformation

`rotm2axang`	Convert rotation matrix to axis-angle rotation
`rotm2eul`	Convert rotation matrix to Euler angles
`rotm2quat`	Convert rotation matrix to quaternion
`rotm2tform`	Convert rotation matrix to homogeneous transformation

`tform2axang`	Convert homogeneous transformation to axis-angle rotation
`tform2eul`	Extract Euler angles from homogeneous transformation
`tform2quat`	Extract quaternion from homogeneous transformation
`tform2rotm`	Extract rotation matrix from homogeneous transformation
`tform2trvec`	Extract translation vector from homogeneous transformation

`angdiff`	Difference between two angles
`cart2hom`	Convert Cartesian coordinates to homogeneous coordinates
`hom2cart`	Convert homogeneous coordinates to Cartesian coordinates
`trvec2tform`	Convert translation vector to homogeneous transformation

Laser Scans

transformScan Transform laser scan based on relative pose

Classes

`robotics.InverseKinematics`	Create inverse kinematic solver
`robotics.GeneralizedInverseKinematics`	创建多约束的逆运动学解算器
`robotics.PurePursuit`	Create controller to follow set of waypoints
`robotics.RigidBodyTree`	Create tree-structured robot
`robotics.VectorFieldHistogram`	Avoid obstacles using vector field histogram

Blocks

Blank Message	Create blank message using specified message type
Get Parameter	Get values from ROS parameter server
Publish	Send messages to ROS network
Pure Pursuit	Linear and angular velocity control commands
Set Parameter	Set values on ROS parameter server
Subscribe	Receive messages from ROS network
Vector Field Histogram	Avoid obstacles using vector field histogram