mex codegen issue: Class insfilterNonholonomic is not supported by coder.Type as it is a handle class.

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Dear Matlab community,
I have a function (see attachment) that I would like to compile to c++ to increase performance and I am following this tutorial. When I run
load('KFmex_data.mat');
codegen -report KFmex.m -args {KF,t_imu,Accel,Gyro,t_gnss,Pos,Vel,Rpos,Rvel,GNSS_step} -test -test;
I get the following error:
Function input at args{1} does not have a valid type.
Caused by:
Class insfilterNonholonomic is not supported by coder.Type as it is a handle class.
Use help codegen for more information on using this command.
Error using codegen
However, according to the documentation of insfilterNonholonomic, this should be fully supported. What am I doing wrong here? Is this a bug?
Any kind of help is much appreciated!

Accepted Answer

Gargi Patil
Gargi Patil on 20 Dec 2021
Hi,
Code generation does not support handle class objects as entry point arguments. You can refer to the linked documentation for more information. Therefore, insfilterNonholonomic objects can not be passed as inputs to a code generation function.
However, the code generation support indicated in the documentation of insfilterNonholonomic allows usage of its objects within the function as follows:
function [state,covariance,stddev] = KFmex(t_imu,Accel,Gyro,t_gnss,Pos,Vel,Rpos,Rvel,GNSS_step) %#codegen
%%KF as an arugment has been removed
KF = insfilterNonholonomic; %Example
%%Code generation will not throw an error
j = 1;
k = 1;
...
end
Kindly note that loading the variable KF within the function using the load command is not viiable for the same reason as above.
  2 Comments
fixusc
fixusc on 22 Dec 2021
I got it to work by passing the variable as a constat when calling Matlab coder:
codegen -report KFmex.m -args {t_imu,Accel,Gyro,t_gnss,Pos,Vel,Rpos,Rvel,GNSS_step,IMUSampleRate,coder.Constant(ReferenceFrame),ReferenceLocation,DecimationFactor,State,StateCovariance,GyroscopeNoise,AccelerometerNoise,GyroscopeBiasNoise,GyroscopeBiasDecayFactor,AccelerometerBiasNoise,AccelerometerBiasDecayFactor,ZeroVelocityConstraintNoise}
The relevant part of the command above is:
... { ... coder.Constant(ReferenceFrame) ... } ...

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