Te-Wei Tsai added a comment - 06/May/21 5:21 PM - edited I checked the updated  TrajectoriesDoc-04292021.docx did fix the problems I had in the previous time. For the CodeGeneration-04292021.docx , the main update is the Appendix (section 4). The following features are interesting: 1. convertToSinglePrecission 2. TargetLangStandard 3. TargetLang 4. fcns_for_argtypes 5. argTypes It looks like the  GenerateCode()  is a high-level function to use the MATLAB original codegen: https://www.mathworks.com/help/coder/ref/codegen.html

Te-Wei Tsai added a comment - 06/May/21 5:55 PM - edited I tried to execute the init() followed by codeGenerationScript() with some modification in codeGenerationScript.m : % opts.requiredmatlabrelease = '2019b'; opts.requiredmatlabrelease = '2019a';   % opts.codegengitfolder = '../trajectoriesGeneratedCode'; opts.codegengitfolder = 'trajectoriesGeneratedCode';   % opts.gitorigin_url = 'git@gitlab.tekniker.es:aut/projects/3151-LSST/trajectories/generatedcppcode.git'; I used the 2019a instead because I have other project is using this one. In addition, I do not think the version of MATLAB does matter here for the code generation (2019a and 2019b do not differ much). I have the following error: Error using Lib.CompilerAndCodegen.GetPathsAndGitHashes Kodigoaren trazabilidadea ziurtatu ahal izateko beharrezkoa da kodigoa sortzerako orduan karpetan aldaketarik ez egotea: egin commit zai dauden aldaketei eta saiatu berriro   Error in Lib.CompilerAndCodegen.GenerateCode   Error in codeGenerationScript (line 15) Lib.CompilerAndCodegen.GenerateCode(opts); No idea where is the problem. In addition, the error message is not in English but in basque.

Te-Wei Tsai added a comment - 06/May/21 6:17 PM - edited I updated the  codeGenerationScript.m again: % opts.AbortIfGitIsNotClean = true; opts.AbortIfGitIsNotClean = false; Rerun the code generation and get the following error: ??? Class 'JerkLimitedTrajectory' does not have a method or property with name 'reset'.   Error in ==> reset Line: 4 Column: 1 Code generation failed: View Error Report Error using codegen     Error in Lib.CompilerAndCodegen.GenerateCode   Error in codeGenerationScript (line 16) Lib.CompilerAndCodegen.GenerateCode(opts); I instantiated an object of JerkLimitedTrajectory and checked the methods: // Some comments here Methods for class JerkLimitedTrajectory:   JerkLimitedTrajectory getSetpoint setStatus fromStruct getStatus setStopOnError getFinalConditions move stop getProfile setConcatenateMoves toStruct getSetPoint setInitialPosition   Static methods:   getMoveTimes getStopTimes   Methods of JerkLimitedTrajectory inherited from handle. Check the properties: Properties for class JerkLimitedTrajectory:   moveLimits stopLimits x v a J Therefore, there is nothing of "reset". The commit of 2f4d88c in trayectorias is tested.

Te-Wei Tsai added a comment - 06/May/21 8:26 PM Please help to review this ticket. It looks like I could not generate the C/C++ code based on the document of code generation. The details are in the comments of ticket. Thanks!

Dave Mills added a comment - 06/May/21 8:33 PM Ok , I will follow up with Tekniker