Greetings. I am having some issues regarding the Hector SLAM algorithm. I am currently trying to compare the trajectory of a tracked robot: i’m using both the data from the encoders and the SLAM algorithm to track the position of the robot. As you can see from the attached image there are quite some differences from the trajectory calculated with the encoder and the trajectory exported from the Hector SLAM. Moreover the encoder one is more consistent with the actual path of the rover than the SLAM one. As you can see the overall shape of the trajectory is the same, but the SLAM one is scaled in an odd way, and somehow rotated with respect to the encoder one. I was wondering if there was a way to make the SLAM trajectory more consistent with reality or if i am missing something in the matlab enviroment. Can someone plese enlight me about this issue? If needed, of course, i will provide further information. Thanks in advance to everyone interested.
% Load topics
topic_sys = select(bag,’Topic’,"/robo/sys");
topic_data_sys = readMessages(topic_sys);

topic_enc = select(bag,’Topic’,"/robo/enc");
topic_data_enc = readMessages(topic_enc);

topic_slam = select(bag,"Topic","/slam_out_pose");
topic_data_slam = readMessages(topic_slam);

topic_scan = select(bag,"Topic","/velodyne_points");
topic_data_scan = readMessages(topic_scan);

%% SLAM Trajectory – Finding

for i =1:length(topic_data_slam)

yTraj(i,1) = topic_data_slam{i,1}.Pose.Position.X ;
xTraj(i,1) = -topic_data_slam{i,1}.Pose.Position.Y ;

end

xTraj = xTraj – xTraj(1,1);
yTraj = yTraj – yTraj(1,1);Greetings. I am having some issues regarding the Hector SLAM algorithm. I am currently trying to compare the trajectory of a tracked robot: i’m using both the data from the encoders and the SLAM algorithm to track the position of the robot. As you can see from the attached image there are quite some differences from the trajectory calculated with the encoder and the trajectory exported from the Hector SLAM. Moreover the encoder one is more consistent with the actual path of the rover than the SLAM one. As you can see the overall shape of the trajectory is the same, but the SLAM one is scaled in an odd way, and somehow rotated with respect to the encoder one. I was wondering if there was a way to make the SLAM trajectory more consistent with reality or if i am missing something in the matlab enviroment. Can someone plese enlight me about this issue? If needed, of course, i will provide further information. Thanks in advance to everyone interested.
% Load topics
topic_sys = select(bag,’Topic’,"/robo/sys");
topic_data_sys = readMessages(topic_sys);

topic_enc = select(bag,’Topic’,"/robo/enc");
topic_data_enc = readMessages(topic_enc);

topic_slam = select(bag,"Topic","/slam_out_pose");
topic_data_slam = readMessages(topic_slam);

topic_scan = select(bag,"Topic","/velodyne_points");
topic_data_scan = readMessages(topic_scan);

%% SLAM Trajectory – Finding

for i =1:length(topic_data_slam)

yTraj(i,1) = topic_data_slam{i,1}.Pose.Position.X ;
xTraj(i,1) = -topic_data_slam{i,1}.Pose.Position.Y ;

end

xTraj = xTraj – xTraj(1,1);
yTraj = yTraj – yTraj(1,1); Greetings. I am having some issues regarding the Hector SLAM algorithm. I am currently trying to compare the trajectory of a tracked robot: i’m using both the data from the encoders and the SLAM algorithm to track the position of the robot. As you can see from the attached image there are quite some differences from the trajectory calculated with the encoder and the trajectory exported from the Hector SLAM. Moreover the encoder one is more consistent with the actual path of the rover than the SLAM one. As you can see the overall shape of the trajectory is the same, but the SLAM one is scaled in an odd way, and somehow rotated with respect to the encoder one. I was wondering if there was a way to make the SLAM trajectory more consistent with reality or if i am missing something in the matlab enviroment. Can someone plese enlight me about this issue? If needed, of course, i will provide further information. Thanks in advance to everyone interested.
% Load topics
topic_sys = select(bag,’Topic’,"/robo/sys");
topic_data_sys = readMessages(topic_sys);

topic_enc = select(bag,’Topic’,"/robo/enc");
topic_data_enc = readMessages(topic_enc);

topic_slam = select(bag,"Topic","/slam_out_pose");
topic_data_slam = readMessages(topic_slam);

topic_scan = select(bag,"Topic","/velodyne_points");
topic_data_scan = readMessages(topic_scan);

%% SLAM Trajectory – Finding

for i =1:length(topic_data_slam)

yTraj(i,1) = topic_data_slam{i,1}.Pose.Position.X ;
xTraj(i,1) = -topic_data_slam{i,1}.Pose.Position.Y ;

end

xTraj = xTraj – xTraj(1,1);
yTraj = yTraj – yTraj(1,1); slam, trajectory reconstruction, hector slam, ros MATLAB Answers — New Questions

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Hi there,
My project requires 12 PWM signals. I’ve successfully generated PWM signals from ePWM1 to ePWM6 using Simulink and verified them on an oscilloscope using the external pins (P0-P5 and P6-P11) as per the pinout diagram.

I have two question,
Q1) I am able to configure, build and load remaining ePWM blocks. How can I route the output signals from (ePWM7-ePWM12) to external pins on the device?.(As there are not specified in pinout diagram)
Q2) Is it possible to disable the DAC feature of ePWM 7 & ePWM8?. I need unfilitered 12 PWM singals for my application.Hi there,
My project requires 12 PWM signals. I’ve successfully generated PWM signals from ePWM1 to ePWM6 using Simulink and verified them on an oscilloscope using the external pins (P0-P5 and P6-P11) as per the pinout diagram.

I have two question,
Q1) I am able to configure, build and load remaining ePWM blocks. How can I route the output signals from (ePWM7-ePWM12) to external pins on the device?.(As there are not specified in pinout diagram)
Q2) Is it possible to disable the DAC feature of ePWM 7 & ePWM8?. I need unfilitered 12 PWM singals for my application. Hi there,
My project requires 12 PWM signals. I’ve successfully generated PWM signals from ePWM1 to ePWM6 using Simulink and verified them on an oscilloscope using the external pins (P0-P5 and P6-P11) as per the pinout diagram.

I have two question,
Q1) I am able to configure, build and load remaining ePWM blocks. How can I route the output signals from (ePWM7-ePWM12) to external pins on the device?.(As there are not specified in pinout diagram)
Q2) Is it possible to disable the DAC feature of ePWM 7 & ePWM8?. I need unfilitered 12 PWM singals for my application. embedded coder, delfino, microcontroller MATLAB Answers — New Questions

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I am running this MATLAB code but it is giving me illegal use of keyword end, I checked the whole code and it has all brackets closed also, here is code:
%SEIQR model (equilibrium solution with time delay)
S = 2.376543 ;% Initial number of susceptible people in million
E = 2.557000 ;%Number of exposed people in million
I = 0; % Initial number of infected people
Q = 0 ;% Initial quarantined number
R = 0 ;% Initial number of recovered people
r1 = 2.5 ;% average susceptible contact number
r2 = 0.5 ;% average quarantine contact number
alpha=0.922; % infection rate in exposed people
r=0.303; % rate of infection
d1=0; % average natural death rate
d2=0.001; % average covid induced death rate
beta1=0.80; %infection rate per infected person
beta2=0.0701; % infection rate per quarantined person
gamma1= 0.01;% recovery rate in exposed people
gamma2= 0.01;% recovery rate in infected people
gamma3= 0.05;% recovery rate in quarantined people
M=1;
h = 0.01 ;% differential time interval
T = h:h:500 ;
foridx = 1:length(T)-1;
S(idx+1) = S(idx) + h*(M-alpha*S(idx)*E(idx) – d1*S(idx)) ;
E(idx+1) = E(idx) + h*(-alpha*S(idx)*E(idx) – d1*E(idx) – r*E(idx)) ;
I(idx+1) = I(idx) + h*(r*E(idx) -d2*I(idx)-d1*I(idx)-gamma2*I(idx)-beta2*I(idx)) ;
Q(idx+1) = Q(idx) + h*(beta1*E(idx) + beta2*I(idx)-d1*Q(idx)-d2*Q(idx)-gamma1*Q(idx)) ;
R(idx+1) = R(idx) + h*(gamma1*Q(idx)+gamma2*I(idx)+gamma3*E(idx)-d1*R(idx)) ;
end
clear; clc;
beta = 1.9; % contact rate per day
a1 = 0.3; % quarantine rate in exposed people
a2 = 0.2; % quarantine rate in infected people
r=0.303;
gamma1= 0.02;% recovery rate in exposed people
gamma2= 0.02;% recovery rate in infected people
gamma3= 0.09;% recovery rate in quarantined people
mu= 0.06; % natural death rate
beta1=0.8;
beta2=0.0701;
tau =14; %time delay (incubation period)
M=1;
d1 = 0.04;% death rate in infected people
d2 = 0.02;% death rate in quarantined people
ddeSEIQR = @(t,y,Z) [M-beta*y(1)*y(3)-d1*y(1) ;
(beta*y(1)*y(3))-d1*exp(-mu*tau)*Z(2,1)-r*y(2)-gamma3*y(2)-beta1*y(2) ; %Z(2,1) approximates the delay in exposed population
beta*exp(-mu*tau)*Z(2,1)-d2*y(3)-d1*y(3)-gamma2*y(3)-beta2*y(3) ;
beta1*y(2)+beta2*y(3)-d1*y(4)-d2*y(4)-gamma1*y(4) ;
gamma1*y(4)+gamma2*y(3)+gamma3*y(2)-d1*y(5)] ;
sol = dde23(ddeSEIQR,[14,1], [0.99 0 0.01 0 0] , [0 , 100]) ;%dde23 (@. . . . , tau , history ,tspan ;
figure ;
plot(sol.x,sol.y(1,:), ‘r’, LineWidth=2)
holdon
plot(sol.x,sol.y(2,:),’g’, LineWidth=2)
holdon
plot(sol.x,sol.y(3,:),Linewidth=2)
holdon
plot(sol.x ,sol.y(4,:),Linewidth=2)
holdon
plot(sol.x,sol.y(5,:),Linewidth=2)
holdoff
title(‘SEIQR at equilibrium’);
xlabel (‘time(days)’) ;
ylabel (‘steady state solution’) ;
legend (‘S’,’E’,’I’,’Q’,’R’) ;I am running this MATLAB code but it is giving me illegal use of keyword end, I checked the whole code and it has all brackets closed also, here is code:
%SEIQR model (equilibrium solution with time delay)
S = 2.376543 ;% Initial number of susceptible people in million
E = 2.557000 ;%Number of exposed people in million
I = 0; % Initial number of infected people
Q = 0 ;% Initial quarantined number
R = 0 ;% Initial number of recovered people
r1 = 2.5 ;% average susceptible contact number
r2 = 0.5 ;% average quarantine contact number
alpha=0.922; % infection rate in exposed people
r=0.303; % rate of infection
d1=0; % average natural death rate
d2=0.001; % average covid induced death rate
beta1=0.80; %infection rate per infected person
beta2=0.0701; % infection rate per quarantined person
gamma1= 0.01;% recovery rate in exposed people
gamma2= 0.01;% recovery rate in infected people
gamma3= 0.05;% recovery rate in quarantined people
M=1;
h = 0.01 ;% differential time interval
T = h:h:500 ;
foridx = 1:length(T)-1;
S(idx+1) = S(idx) + h*(M-alpha*S(idx)*E(idx) – d1*S(idx)) ;
E(idx+1) = E(idx) + h*(-alpha*S(idx)*E(idx) – d1*E(idx) – r*E(idx)) ;
I(idx+1) = I(idx) + h*(r*E(idx) -d2*I(idx)-d1*I(idx)-gamma2*I(idx)-beta2*I(idx)) ;
Q(idx+1) = Q(idx) + h*(beta1*E(idx) + beta2*I(idx)-d1*Q(idx)-d2*Q(idx)-gamma1*Q(idx)) ;
R(idx+1) = R(idx) + h*(gamma1*Q(idx)+gamma2*I(idx)+gamma3*E(idx)-d1*R(idx)) ;
end
clear; clc;
beta = 1.9; % contact rate per day
a1 = 0.3; % quarantine rate in exposed people
a2 = 0.2; % quarantine rate in infected people
r=0.303;
gamma1= 0.02;% recovery rate in exposed people
gamma2= 0.02;% recovery rate in infected people
gamma3= 0.09;% recovery rate in quarantined people
mu= 0.06; % natural death rate
beta1=0.8;
beta2=0.0701;
tau =14; %time delay (incubation period)
M=1;
d1 = 0.04;% death rate in infected people
d2 = 0.02;% death rate in quarantined people
ddeSEIQR = @(t,y,Z) [M-beta*y(1)*y(3)-d1*y(1) ;
(beta*y(1)*y(3))-d1*exp(-mu*tau)*Z(2,1)-r*y(2)-gamma3*y(2)-beta1*y(2) ; %Z(2,1) approximates the delay in exposed population
beta*exp(-mu*tau)*Z(2,1)-d2*y(3)-d1*y(3)-gamma2*y(3)-beta2*y(3) ;
beta1*y(2)+beta2*y(3)-d1*y(4)-d2*y(4)-gamma1*y(4) ;
gamma1*y(4)+gamma2*y(3)+gamma3*y(2)-d1*y(5)] ;
sol = dde23(ddeSEIQR,[14,1], [0.99 0 0.01 0 0] , [0 , 100]) ;%dde23 (@. . . . , tau , history ,tspan ;
figure ;
plot(sol.x,sol.y(1,:), ‘r’, LineWidth=2)
holdon
plot(sol.x,sol.y(2,:),’g’, LineWidth=2)
holdon
plot(sol.x,sol.y(3,:),Linewidth=2)
holdon
plot(sol.x ,sol.y(4,:),Linewidth=2)
holdon
plot(sol.x,sol.y(5,:),Linewidth=2)
holdoff
title(‘SEIQR at equilibrium’);
xlabel (‘time(days)’) ;
ylabel (‘steady state solution’) ;
legend (‘S’,’E’,’I’,’Q’,’R’) ; I am running this MATLAB code but it is giving me illegal use of keyword end, I checked the whole code and it has all brackets closed also, here is code:
%SEIQR model (equilibrium solution with time delay)
S = 2.376543 ;% Initial number of susceptible people in million
E = 2.557000 ;%Number of exposed people in million
I = 0; % Initial number of infected people
Q = 0 ;% Initial quarantined number
R = 0 ;% Initial number of recovered people
r1 = 2.5 ;% average susceptible contact number
r2 = 0.5 ;% average quarantine contact number
alpha=0.922; % infection rate in exposed people
r=0.303; % rate of infection
d1=0; % average natural death rate
d2=0.001; % average covid induced death rate
beta1=0.80; %infection rate per infected person
beta2=0.0701; % infection rate per quarantined person
gamma1= 0.01;% recovery rate in exposed people
gamma2= 0.01;% recovery rate in infected people
gamma3= 0.05;% recovery rate in quarantined people
M=1;
h = 0.01 ;% differential time interval
T = h:h:500 ;
foridx = 1:length(T)-1;
S(idx+1) = S(idx) + h*(M-alpha*S(idx)*E(idx) – d1*S(idx)) ;
E(idx+1) = E(idx) + h*(-alpha*S(idx)*E(idx) – d1*E(idx) – r*E(idx)) ;
I(idx+1) = I(idx) + h*(r*E(idx) -d2*I(idx)-d1*I(idx)-gamma2*I(idx)-beta2*I(idx)) ;
Q(idx+1) = Q(idx) + h*(beta1*E(idx) + beta2*I(idx)-d1*Q(idx)-d2*Q(idx)-gamma1*Q(idx)) ;
R(idx+1) = R(idx) + h*(gamma1*Q(idx)+gamma2*I(idx)+gamma3*E(idx)-d1*R(idx)) ;
end
clear; clc;
beta = 1.9; % contact rate per day
a1 = 0.3; % quarantine rate in exposed people
a2 = 0.2; % quarantine rate in infected people
r=0.303;
gamma1= 0.02;% recovery rate in exposed people
gamma2= 0.02;% recovery rate in infected people
gamma3= 0.09;% recovery rate in quarantined people
mu= 0.06; % natural death rate
beta1=0.8;
beta2=0.0701;
tau =14; %time delay (incubation period)
M=1;
d1 = 0.04;% death rate in infected people
d2 = 0.02;% death rate in quarantined people
ddeSEIQR = @(t,y,Z) [M-beta*y(1)*y(3)-d1*y(1) ;
(beta*y(1)*y(3))-d1*exp(-mu*tau)*Z(2,1)-r*y(2)-gamma3*y(2)-beta1*y(2) ; %Z(2,1) approximates the delay in exposed population
beta*exp(-mu*tau)*Z(2,1)-d2*y(3)-d1*y(3)-gamma2*y(3)-beta2*y(3) ;
beta1*y(2)+beta2*y(3)-d1*y(4)-d2*y(4)-gamma1*y(4) ;
gamma1*y(4)+gamma2*y(3)+gamma3*y(2)-d1*y(5)] ;
sol = dde23(ddeSEIQR,[14,1], [0.99 0 0.01 0 0] , [0 , 100]) ;%dde23 (@. . . . , tau , history ,tspan ;
figure ;
plot(sol.x,sol.y(1,:), ‘r’, LineWidth=2)
holdon
plot(sol.x,sol.y(2,:),’g’, LineWidth=2)
holdon
plot(sol.x,sol.y(3,:),Linewidth=2)
holdon
plot(sol.x ,sol.y(4,:),Linewidth=2)
holdon
plot(sol.x,sol.y(5,:),Linewidth=2)
holdoff
title(‘SEIQR at equilibrium’);
xlabel (‘time(days)’) ;
ylabel (‘steady state solution’) ;
legend (‘S’,’E’,’I’,’Q’,’R’) ; end, illegal use MATLAB Answers — New Questions

​

I had to do multiple interation of simulation and record plot for numerous set of setting
hence it was convenient to define the variables in a matrix form and run simulation but the variable are not being stored in base worspace after restart of system. and in Model workspace it si not possible to use a matrix in data.
kindly guide me in the same.I had to do multiple interation of simulation and record plot for numerous set of setting
hence it was convenient to define the variables in a matrix form and run simulation but the variable are not being stored in base worspace after restart of system. and in Model workspace it si not possible to use a matrix in data.
kindly guide me in the same. I had to do multiple interation of simulation and record plot for numerous set of setting
hence it was convenient to define the variables in a matrix form and run simulation but the variable are not being stored in base worspace after restart of system. and in Model workspace it si not possible to use a matrix in data.
kindly guide me in the same. model worksapce, 2 dimension variable, simulink MATLAB Answers — New Questions

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I’m trying to generate a DLL from an S-function (via Embedded Coder) which has continous states and then call the respective functions via a C# script. I have written a tlc file and the DLL has been succesfully generated.
One of the functions generated is of the following template:
static void rt_ertODEUpdateContinuousStates(RTWSolverInfo *si, RT_MODEL_mav_dynamics0_T *const mav_dynamics0_M, real_T mav_dynamics0_U_forces_and_moments[6], real_T mav_dynamics0_Y_x[12])
However, the data type RTWSolverInfo isn’t defined anywhere. Many other functions have been called inside the function definition as well such as rtsiGetT(), rtsiGetSolverStopTime(), rtsiGetStepSize(), rtsiGetContStates() and rtsiGetSolverData() which have not been defined anywhere.
Even the step function uses a structure variable as a parameter. One of the members of that structure is a variable of data type RTWSolverInfo, which has not been defined anywhere.
Has anybody encountered this issue before? Could you show me how I can define this data type in C# or any way to work around this so I can succesfully use this DLL in C#?I’m trying to generate a DLL from an S-function (via Embedded Coder) which has continous states and then call the respective functions via a C# script. I have written a tlc file and the DLL has been succesfully generated.
One of the functions generated is of the following template:
static void rt_ertODEUpdateContinuousStates(RTWSolverInfo *si, RT_MODEL_mav_dynamics0_T *const mav_dynamics0_M, real_T mav_dynamics0_U_forces_and_moments[6], real_T mav_dynamics0_Y_x[12])
However, the data type RTWSolverInfo isn’t defined anywhere. Many other functions have been called inside the function definition as well such as rtsiGetT(), rtsiGetSolverStopTime(), rtsiGetStepSize(), rtsiGetContStates() and rtsiGetSolverData() which have not been defined anywhere.
Even the step function uses a structure variable as a parameter. One of the members of that structure is a variable of data type RTWSolverInfo, which has not been defined anywhere.
Has anybody encountered this issue before? Could you show me how I can define this data type in C# or any way to work around this so I can succesfully use this DLL in C#? I’m trying to generate a DLL from an S-function (via Embedded Coder) which has continous states and then call the respective functions via a C# script. I have written a tlc file and the DLL has been succesfully generated.
One of the functions generated is of the following template:
static void rt_ertODEUpdateContinuousStates(RTWSolverInfo *si, RT_MODEL_mav_dynamics0_T *const mav_dynamics0_M, real_T mav_dynamics0_U_forces_and_moments[6], real_T mav_dynamics0_Y_x[12])
However, the data type RTWSolverInfo isn’t defined anywhere. Many other functions have been called inside the function definition as well such as rtsiGetT(), rtsiGetSolverStopTime(), rtsiGetStepSize(), rtsiGetContStates() and rtsiGetSolverData() which have not been defined anywhere.
Even the step function uses a structure variable as a parameter. One of the members of that structure is a variable of data type RTWSolverInfo, which has not been defined anywhere.
Has anybody encountered this issue before? Could you show me how I can define this data type in C# or any way to work around this so I can succesfully use this DLL in C#? s-function, dll, rtwsolverinfo, c#, embedded coder MATLAB Answers — New Questions

​

Hi there,
I am trying to use a trained RNN LSTM model as a plant of a dynamic system and want to control one of the outputs (MPW) using MPC. I have 4 inputs (including 1 manipulated and 3 measured). When I set everything in Simulink, it generates an error as below:

Here is the plant subsystem for your review:

And the main system:

It is generating an algebraic loop error since fullstate RNN prediction block is using states (At least I think the reason is that). Does this mean that I cannot use full state prediction to generate the LSTM predictions in a closed-loop control? If so, how can I let the model know the temporal dependency and dynamics of the process?

Best regards,
MostafaHi there,
I am trying to use a trained RNN LSTM model as a plant of a dynamic system and want to control one of the outputs (MPW) using MPC. I have 4 inputs (including 1 manipulated and 3 measured). When I set everything in Simulink, it generates an error as below:

Here is the plant subsystem for your review:

And the main system:

It is generating an algebraic loop error since fullstate RNN prediction block is using states (At least I think the reason is that). Does this mean that I cannot use full state prediction to generate the LSTM predictions in a closed-loop control? If so, how can I let the model know the temporal dependency and dynamics of the process?

Best regards,
Mostafa Hi there,
I am trying to use a trained RNN LSTM model as a plant of a dynamic system and want to control one of the outputs (MPW) using MPC. I have 4 inputs (including 1 manipulated and 3 measured). When I set everything in Simulink, it generates an error as below:

Here is the plant subsystem for your review:

And the main system:

It is generating an algebraic loop error since fullstate RNN prediction block is using states (At least I think the reason is that). Does this mean that I cannot use full state prediction to generate the LSTM predictions in a closed-loop control? If so, how can I let the model know the temporal dependency and dynamics of the process?

Best regards,
Mostafa mpc, algebraic loop, lstm model MATLAB Answers — New Questions

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