Receiving the error Undefined function or variable 'getOccupancy'. in simulink but not in matlab

I am attempting to make some ramdom waypoints for a robot to follow.

I run the attached code in Matlab and do not have any issues however when I try to run it in simulink I receave the following message.

Undefined function or variable 'getOccupancy'.

As this runs in matlab I do not think it is a toolbox related issue but I am open to any suggesstions.

Attached below is my code that runs in matlab. (for simulink implementation I add this function line to it : function [WP_OUT_X, WP_OUT_Y] = fcn(map))

key = 0;

%%% Waypoint generator

if key < 1

%% Generate multiple the waypoints

Xarry = linspace(2,52,51); % Generate x values between 2 and 51 (1 and 52 will always be a wall)

Yarry = linspace(2,41,40); % Generate y values between 2 and 40 (1 and 41 will always be a wall)

Smplx = randsample(Xarry, 39); % Choose 39 random samples from the above 2 vectors

Smply = randsample(Yarry, 39); % Limited to 39 due to the size of the algorithm

Position_Matrix = [Smplx; Smply]; % Change them into 2 columns

Position_Matrix1 = Position_Matrix; % Duplicate Pos matrix so we can keep original and do work on the copy

%% This makes the map into a logical grid

occVal = zeros(1,51); % Preallocation

j = 2; % start at 2 as 1 is always a wall

while j < 51 % Finish at 51 as 52 is awlways a wall

i = 2; % start at 2 as 1 is always a wall

while i < 40 % Finish at 40 as 41 is awlways a wall

interum = getOccupancy(map,[j, i]); % Will test if the map is a wall or not at each x and y co-ord

occVal(i, j) = interum(:); % Stores the co-ords

if occVal(i, j) == 1 % If occVal is a wall

Position_Matrix1(:,i) = nan; % The current position is a nan value this will run for each j value but only the last one will be kept

end

i = i + 1; % Increase i counter

end

j = j + 1; % Increase j counter

end

%%

tv = rmmissing(Position_Matrix1(1,:)); % Check the top numbers of the vector for nan values then remove them

bv = rmmissing(Position_Matrix1(2,:)); % Check and remove all nan values from the bottom vector

bta = [tv;bv]; % Splice the vector back together

WP_OUT = bta(:,1:5); % Take the first 5 values of the splice vector and output them

WP_OUT_X = WP_OUT(1,:) % Outputs

WP_OUT_y = WP_OUT(2,:) % Outputs

key = 1; % Key variable so code only runs once (May Not Need)

end

%% Experimental Code zone

[Walter Roberson]

coder.external('getOccupancy')

This might not work if you need to do code generation

Answer 1

[Daniel Taylor]

To answer my own question you cannot use it in simulink.

but you can hard code the map in as it will not change in this instance. This is terrible coding practice but it is a solution that is easy to implement.

[Daniel Taylor]

as a further to fellow students doing EGH 446 make sure you read this to make the function version of this code actually "random"

https://au.mathworks.com/help/matlab/ref/rng.html

This will be needed to change the seed of the random number generator each time so the random numbers will actualy be seamingly random.