Hy Everyone,

I’m struggling a bit in my school project (Automation Engineering MA1)

Main goal is: implemating a state-space control instead of the PI controllers in the BeagleBone Blue Bot

My simulation of the inverse pendulum is done on Simulink and now I’m trying to start playing with vectors and matrices in the main .cpp

==> I found on the Github the librairies containing all vector / matrices functions as well as the exemple of using them (rc_test_algebra)

I tried several vector or matrix declarations but as I “catkin_make” the projet it crashes: here are my attempts (working in edumip_balance_ros.cpp)

(I give you a bit more of the code so you can figure out where I’am working), main idea here: creating a 2x2 matrix A filled with zeros, error is: **expected constructor, destructor, or type conversion before ‘(’ token rc_matrix_zeros(A, 2, 2)**

I tried decoupling the code (more lines) or using the rc_matrix_alloc but none of them work :-4

Does anyone have an idea how I could implement a simple matrix or vector using the prefabricated functions in the librairies please ? I’m merely asking for a clue or a good explanation or someone pointing at my bad understanding of C++ and correcting me.

Thank you, Thomas from Brussels