Undefined function 'cadaCheckForDerivs' for input arguments of type 'struct' ---> how to use interp1?

[edamondo]

Hello,

I am trying to use adigator to find the derivative of the function defined below (saved in stateTransition.m).

function ds = stateTransition(s,t) %(t, s, uTrans, uTransTime,uRot, uRotTime)
% actually there needs to be 2 u : one fore the translation uT and one for
% the rotation uR.

% hardcode some stuff
    ds = zeros(6,1);

    uTrans = 0*ones(10,1)';
    uTransTime = 0:9';

    uRot = 0*ones(10,1)';
    uRotTime = 0:9';

    uTrans = interp1(uTransTime, uTrans, t);
    uRot = interp1(uRotTime, uRot, t);

    ds(1) = s(4);
    ds(2) = s(5);
    ds(3) = s(6);
    ds(4) = interp1([0,2,3,5,6,7,8,9,10]', [0,0.2244,0.3850,0.6309,0.7839,1.022,1.1630,1.3959,1.5340]', uTrans) * cos(s(3));
    ds(5) = interp1([0,2,3,5,6,7,8,9,10]', [0,0.2244,0.3850,0.6309,0.7839,1.022,1.1630,1.3959,1.5340]', uTrans) * sin(s(3));
    ds(6) = interp1((0:10:100)', [0, 6.3632, 16.8374, 25.6822, 35.5810, 45.7588, 53.0103, 60.5996, 83.5957, 89.0708, 96.1055]',uRot);
end

Unfortenately, it seems it doesn't accept the interp1. The commands I type are :

x = adigatorCreateDerivInput([6 1],'x');
t = adigatorCreateAuxInput([1 1]);
adigator('stateTransition',{x,t},'myderiv');

it displays the following error message :

Undefined function 'cadaCheckForDerivs' for input arguments of type 'struct'.

Error in cada/interp1 (line 103)
elseif cadaCheckForDerivs(x) || cadaCheckForDerivs(y)

Error in adigatortempfunc1 (line 33)
ds(4) = interp1([0,2,3,5,6,7,8,9,10]',
[0,0.2244,0.3850,0.6309,0.7839,1.022,1.1630,1.3959,1.5340]', uTrans) * cos(s(3));

Error in adigator (line 647)
[FunctionInfo, Outputs] = adigatortempfunc1(FunctionInfo,UserFunInputs);

How can I fix this?

Thanks for the program and for your help

[Matthew J. Weinstein]

Hello,

Sorry it took me awhile to get to this, there was an issue with the pure numeric inputs to interp1. I added a dummy cadaCheckForDerivs routine as a workaround. The 1.4.1 release and current code on SVN should fix this.

Matt