Matlab: sf-mcl updated to the new prediction data type

diff --git a/src/mcl/matlab/sf_mcl.c b/src/mcl/matlab/sf_mcl.c
index 9c09c542d24593c1c1343dda5a02dd5664d5be2e..eff4c0f601b09dda40a65da38fbae548ab5788f7 100644 (file)
--- a/src/mcl/matlab/sf_mcl.c
+++ b/src/mcl/matlab/sf_mcl.c
@@ -385,10 +385,10 @@ static void mdlOutputs(SimStruct *S, int_T tid)
 /*     ssPrintf("=============================================\n"); */
     if (ssIsSampleHit(S, moveTid, tid)) {
 /*         ssPrintf("move \n"); */
-           struct mcl_laser_state d;
-           d.x = *iPtrsMove[0];
-           d.y = *iPtrsMove[1];
-           d.angle = *iPtrsMove[2];
+           struct mcl_robot_odo d;
+           d.dx = *iPtrsMove[0];
+           d.dy = *iPtrsMove[1];
+           d.dangle = *iPtrsMove[2];
            mcl->predict(mcl, &d);
     }