Error while trying to generate inverse kinematics c++ code: Fatal Error C1083 Cannot open include file: 'mcos_factory/mi.hpp': No such file or directory

Hi,

I have succesfully modeled and simulated a manipulator on simscape multibody. Now, I'm trying to generate code via Simulink Coder for its inverse kinematics (IK block from Robotics Toolbox).

However, Simulink Coder fails to publish the code because it can't find a reference.

Any ideas on how to fix it?

Not sure if it matters but:

• The rigid body tree was exported from R2023b to R2023a
• Im targeting Twincat

Thanks

Answer 1

[Remo Pillat]

Thanks for reaching out, Felipe. I believe you already connected to our tech support; what you are enountering is likely a limitation in PLC Coder. Let us know if you have any additional questions.

[Theo]

Hi,

I have encountered the exact same error by trying to publish the generated code from Matlab to a TwinCat Target.

How were you able to solve this problem?

Kind regards

[Felipe]

I ended up writting the IK/FK analytically on matlab. Then, in a matlab module on simulink I generated code targetting Twincat to create a library.