Unable to Run example1 or example 2 code, getting error in vec_cross

[vbalaji21]

This is the error log -

Undefined function or variable 'vec_cross'

I am using Matlab 2019a as stated in Readme.
I have also attached a picture of the error.
Please check it and let me know, I am looking forward to hearing from you.

[vkotaru]

Download and add https://github.com/HybridRobotics/geometric-toolbox to your path.
You can also replace it with cross the Matlab's cross

[vbalaji21]

Thanks a lot for your quick reply @vkotaru . I changed it to cross meanwhile and I added the geometric-toolbox to remove other such errors related to toolbox. I am able to move few steps further but it started giving me error stated below

Undefined function or variable 'afh_dynamics_mex'

Am I missing few other toolboxes to run the examples, Please let me know.
I have attached the screenshot of the error.

[vkotaru]

You are trying to use themex files. You need to first generate the mex files to use them. In the meantime I would recommend setting the dynamics to default, params.dynamics = 'default';

[vbalaji21]

Thanks @vkotaru I made the change and generated mex by running the script matlab/utils/func_generators/generateMexFiles.m as suggested in Readme description. I am able to run all the examples except 2 examples - Example2 and sim2_TRAJ_nQ2.

I am getting this error for both of them - Undefined function or variable 'getNormDerivatives14_mex'

Am I generating the mex properly or Should I change some parameters for mex file generation for this ?

I have attached the error picture for reference

[vkotaru]

As the name suggests its the mexed function for getNormDerivatives14.m, either replace getNormDerivatives14_mex with getNormDerivatives14 (i.e. don't use the mexed function), or generate the mex function for getNormDerivatives14.m

[vbalaji21]

@vkotaru Thanks for the reply. I stopped using mex function by replacing - params.dynamics = 'default'.
I got an error in LQR control when running example 2. The error was on control input block of control_lqr.m
It showed a vector size mismatch, I printed and checked the sizes.

I have attached a picture and also print logs for it. Please let me know how to run examples normally, I am not sure whether I need to do some other steps to run it.

Picture -

Print log -

Error using reshape
Number of elements must not change. Use [] as one of the size inputs to automatically calculate the appropriate size for
that dimension.

Error in control_lqr (line 27)
P = reshape(Pvec, m, m);

Error in example2>@(t,x)control_lqr(mdl,t,x) (line 109)
mdl.controller = @(t,x) control_lqr(mdl, t, x);

Error in DynamicalSystem/system_dynamics (line 101)
u = obj.calcCtrlInput(t,x);

Error in DynamicalSystem>@(t,x)system_dynamics(obj,t,x) (line 57)
odefun = @(t,x)system_dynamics(obj, t, x);

Error in odearguments (line 90)
f0 = feval(ode,t0,y0,args{:}); % ODE15I sets args{1} to yp0.

Error in ode15s (line 152)
odearguments(FcnHandlesUsed, solver_name, ode, tspan, y0, options, varargin);

Error in DynamicalSystem/simulate (line 62)
sol = solver(odefun, tspan, x0,options);

Error in example2 (line 117)
sol = mdl.simulate([t0, simtf], xInit, @ode15s);