matlab class methods as ode function handle

Hi Guys, I am new to matlab OO and I want to know if there is a possibility to use a class method as a function handle.

To elaborate what I have now is the following,

 classdef Ball < handle
      %%BAll Class
      properties (GetAccess = public, SetAccess = private)

          initialPosition;
          initialVelocity;
          position;
          time;

      end

      properties (GetAccess = private, SetAccess = private)
          state;
      end

      methods
          %%constructor %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
          function obj = Ball(ballData)

              obj.initialPosition = ballData.initialPosition;
              obj.initialVelocity = ballData.initialVelocity;

              obj.time = 0.0;

              obj.state=[obj.initialVelocity; obj.initialPosition ];
              obj.position=obj.initialPosition;

          end

          %%update %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
          function update(obj, world)
              %update the ball to synchronize it with the world

              deltaT = world.time - obj.time;
              if deltaT > 0

                  % Solving ODE
                  [~,Y] = ode45(@obj.ballDynamics,[0 deltaT],obj.state);
                  [i, ~] = size(Y);
                  obj.state = Y(i,:)';

                  obj.position = obj.state(4:6);

                  % Update ball time;
                  obj.time = world.time;
              end
          end        

      end

      methods (Static) 

          %%Ball Dynamics
          function x_dot = ballDynamics(~,x)
              mass = 56e-03;
              diameter = 65.5e-03;
              rho=1.25;
              g=9.81;
              Cd=0.47;
              x_dot = [0 0 -9.8 x(1:3)']';
          end 
      end
  end

As you can see I am using a static method as a handle and it works file. But ideally I want to use a non static method, such that I can access the class properties.

I would appreciate any help.

Gajan

Answer 1

[Mohanarajah Gajamohan]

I am answering my own question:

classdef Ball < handle
    %%BAll Class
    properties (GetAccess = public, SetAccess = private)
        mass;
        diameter;
        rho;
        g;
        Cd;
        initialPosition;
        initialVelocity;
        position;
        time;

      end

      properties (GetAccess = private, SetAccess = private)
          velocity;
          state;
      end

      methods
          %%constructor %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
          function obj = Ball(ballData)

              obj.initialPosition = ballData.initialPosition;
              obj.initialVelocity = ballData.initialVelocity;
              obj.mass = ballData.mass;
              obj.diameter = ballData.diameter;
              obj.rho = ballData.rho;
              obj.g = ballData.g;
              obj.Cd = ballData.Cd;

              obj.time = 0.0;

              obj.state=[obj.initialVelocity; obj.initialPosition ];
              obj.position=obj.initialPosition;

          end

          %%update %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
          function update(obj, world)
              %update the ball to synchronize it with the world

              deltaT = world.time - obj.time;
              if deltaT > 0

                  % Solving ODE
                  [~,Y] = ode45(@obj.ballDynamics,[0 deltaT],obj.state);
                  [i, ~] = size(Y);
                  obj.state = Y(i,:)';

                  obj.position = obj.state(4:6);

                  % Update ball time;
                  obj.time = world.time;
              end
          end 

          function x_dot = ballDynamics(obj,~,x)
              A = pi*(obj.diameter^2)/4;
              x_dot = [obj.g - (obj.rho*obj.Cd*A*norm(x(1:3))/(2*obj.mass)) * x(1:3);
                      x(1:3)];
          end  
      end
  end