Bicycle model not working using the new Toolbox

[cjh...@gmail.com]

Hi, Peter:

I just installed the latest Robotics Toolbox, and run into following problem (this is the example in your book(2nd) at pp. 156 - 157 :

V = diag([0.02, 0.5*pi/180].^2);

veh= Bicycle('covar', V);

odo = veh.step(1, 0.3);

veh.x';

veh.f([0 0 0], odo);

veh.add_driver( RandomPath(10) );

veh.run()

Error using patch

Unrecognized property axis for class Patch.

Error in plot_poly (line 149)

                h = patch(x', y', opt.fillcolor, ...

Error in plot_vehicle>draw_robot (line 220)

        h = plot_poly(corners, 'animate', 'axis', opt.axis, args{:});

Error in plot_vehicle (line 117)

        h.vehicle = draw_robot(d, opt, args);

Error in Vehicle.plotv (line 547)

            h = plot_vehicle(varargin{1}, 'fillcolor', 'b', 'alpha', 0.5);

Error in Vehicle/plot (line 419)

                veh.vhandle = Vehicle.plotv(veh.x, varargin{:});

Error in Vehicle/run (line 349)

            veh.plot();

[cjh...@gmail.com]

Hi, Peter:

My issue (see above) is the same as Charles' veh.run() error. 

After seeing your response, especially the "which imorph" ,  I tried it on my Matlab.

I thought there is something with the Machine Vision Toolbox from the path generated by "which imorph". 

So, I re-installed Machine Vision Toolbox. 

After that, veh,run() worked. 

However, veh.run() will not work if I exit Matlab, then, re-start Matlab. 

In order for veh.run() to work again, I have to re-install the Machine Vision Toolbox. 

This is a get-around temperate solution to this issue. 

But, I hope that you may find a permanent solution by getting some clue from this get-around solution. 

Thank you.

Ning

[Peter Corke]

I'm not convinced you are running the latest version of RTB.  The line numbers don't match up.  The code runs fine for me.  Please send me the output of

>> rvccheck

[cjh...@gmail.com]

Hi, Peter:

This is what I have:

>>  rvccheck

You are using:

 - MATLAB release 2020b

 - Machine Vision Toolbox 4.3.0 2018-03-11 [mltbx install to Add-Ons]

 - Machine Vision Toolbox 4.3.0 2018-03-11 [mltbx install to Add-Ons]

[Peter Corke]

that's weird that you have MVTB twice but no RTB.  Please do 

>> which ctraj

and tell me the contents of the RELEASE file in the same folder

[cjh...@gmail.com]

Hi, Peter:

Thank you for responding to my post. 

Here is what I have:

>> rvccheck

You are using:

 - MATLAB release 2020b

 - Machine Vision Toolbox 4.3.0 2018-03-11 [mltbx install to Add-Ons]

 - Machine Vision Toolbox 4.3.0 2018-03-11 [mltbx install to Add-Ons]

>> which ctraj

C:\Users\ECPI\AppData\Roaming\MathWorks\MATLAB Add-Ons\Toolboxes\Robotics Toolbox for MATLAB\ctraj.m

>> 

The RELEASE contains only one number: 10.4

I am going to teach robotics based on your book (2nd) in one week from home. 

My university gave a license to allow me to install Matlab on my home computer. 

After installing Matlab, I went to your website, downloaded and installed both Robotics and Machine Vision toolboxes using the second method: Install from .mltbx file. 

I did not downloaded your toolboxes of any versions to this computer before. 

The only thing I want to point out is that I first downloaded a free 30 day trial version of Matlab, then, I got the license from my university, and activated that  license for my Matlab. 

Thanks for your time and effort. 

Ning

[Peter Corke]

weird.  You're going to have to help me get to the bottom of this.

>> which idisp

>> which ctraj

>> which patch

[cjh...@gmail.com]

Hi, Peter:

Sorry for responding to your post so late. I have been busy with other teaching stuff. 

Here are what I have:

>> which idisp

C:\Users\ECPI\AppData\Roaming\MathWorks\MATLAB Add-Ons\Toolboxes\Machine Vision Toolbox for MATLAB(4)\vision\idisp.m

>> which ctraj

C:\Users\ECPI\AppData\Roaming\MathWorks\MATLAB Add-Ons\Toolboxes\Robotics Toolbox for MATLAB\ctraj.m

>> which patch

built-in (C:\Program Files\MATLAB\R2020b\toolbox\matlab\graphics\primitive\patch)

>> 

[cjh...@gmail.com]

Hi, Peter:

After completely re-downloading and re-installing the toolboxes, this issue still persist.

I got exactly the same error message as in my initial post of this issue. 

To make veh.run() to work, I have to use the same trick that mentioned above, i, e, re-install MVTB. 

Ning

[Shouling He]

Hi, Peter, I have the same problem as above. I had it run in the spring semester. But, now, I got the errors below

Error using patch

Unrecognized property axis for class Patch.

Error in plot_poly (line 149)

                h = patch(x', y', opt.fillcolor,'EdgeColor',...

Error in plot_vehicle>draw_robot (line 220)

        h = plot_poly(corners, 'animate', 'axis', opt.axis, args{:});

Error in plot_vehicle (line 117)

        h.vehicle = draw_robot(d, opt, args);

Error in Vehicle.plotv (line 547)

            h = plot_vehicle(varargin{1}, 'fillcolor', 'b', 'alpha', 0.5);

Error in Vehicle/plot (line 419)

                veh.vhandle = Vehicle.plotv(veh.x, varargin{:});

Error in Vehicle/run (line 349)

            veh.plot(); 

I wonder whether MATLAB company has updated the required arguments for the function patch.

Best,

Shouling from NYC, USA.