shapes example error (matlab 2022a); all test passed after installation, able to run sdf and mesh examples wihtout any issue

[Jahan091]

trying to run examples inside shape folder using matlab 2022a, getting the following errors:

Unrecognized function or variable 'expmapSE3_inline'.

Error in computeFreeForwardKinematicsGaussFast (line 71)
G(:,:,jj+1) = G(:,:,jj) * expmapSE3_inline( hat( PSI ) );

Error in assembleGlobalShapes (line 25)
[g, J, Jt] = computeFreeForwardKinematicsGaussFast(Q,dQ,...

Error in Shapes/compute (line 11)
Shapes = assembleGlobalShapes(Shapes);

Error in rebuildShapes (line 144)
Shapes = compute(Shapes);

Error in Shapes/rebuild (line 2)
Shapes = rebuildShapes(Shapes);

Error in Shapes (line 80)
obj = rebuild(obj);

Error in backbone_test (line 10)
shp = Shapes(Y,[0,M,M,0,0,0],'Quality',175);

[BJCaasenbrood]

Hi @Jahan091 , I've pushed an update to SorotokiModel which now should refer to computeFreeForwardKinematicsGaussFast_mex instead also with the appropriate reference to the expmapSE3_inline function.

Can you redownload sorotoki and build the mex code by calling sorotoki build and check if it works? These are the following commands you'll need:

sorotoki install --approve 
sorotoki build --approve 

[Jahan091]

Hi BJ,

Thanks for your response.

After your update, I’m now getting the following error:

🔴 Error: Unrecognized function or variable 'logmapSO3_inline'

I checked the file computeFreeForwardKinematicsGaussFast.m, and I found that the logmapSO3_inline function is present but commented out. I uncommented it, but the function appears to be incorrect, as it has too few output arguments.

The function is used inside interpolateSE3_inline as follows:

% get log of rotation matrix
[S, th] = logmapSO3_inline(R);
% th = norm([S(3,2); S(1,3); S(2,1)]);

However, the uncommented function definition is:

function Y = logmapSO3_inline(X, tol)
S = X;
theta = acos(0.5*(trace(S) - 1));

if sin(theta) >= tol
    alpha = 0.5*theta/sin(theta);
    Y = alpha*(S - S.'); 
else
    Y = zeros(3); 
end

end

This function only returns one output argument (Y), whereas the call expects two ([S, th]).

update i tried which also didnt work:

function calling: [S, th] = logmapSO3_inline(R,tol);

function:
function [S, th] = logmapSO3_inline(R, tol)
th = acos(0.5 * (trace(R) - 1));

if sin(th) >= tol
    alpha = 0.5 * th / sin(th);
    S = alpha * (R - R.');
else
    S = zeros(3);
end

end

It gave the following error:

Not enough input arguments.

Error in computeFreeForwardKinematicsGaussFast>expmapSO3_inline (line 185)
if abs(t) >= tol
^^^
Error in computeFreeForwardKinematicsGaussFast>interpolateSE3_inline (line 136)
Rt = expmapSO3_inline(t * S);
^^^^^^^^^^^^^^^^^^^^^^^
Error in computeFreeForwardKinematicsGaussFast (line 77)
gi(:,:,ii,jj) = interpolateSE3_inline(G(:,:,jj), G(:,:,jj+1), t);
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Error in assembleGlobalShapes (line 25)
[g, J, Jt] = computeFreeForwardKinematicsGaussFast(Q,dQ,...
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Error in Shapes/compute (line 11)
Shapes = assembleGlobalShapes(Shapes);
^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Error in rebuildShapes (line 144)
Shapes = compute(Shapes);
^^^^^^^^^^^^^^^
Error in Shapes/rebuild (line 2)
Shapes = rebuildShapes(Shapes);
^^^^^^^^^^^^^^^^^^^^^
Error in Shapes (line 80)
obj = rebuild(obj);
^^^^^^^^^^^^
Error in backbone_test (line 10)
shp = Shapes(Y,[0,M,M,0,0,0],'Quality',175);
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

Please help. Thanks