v = ver;
if any(contains({v.Name},'MATLAB Coder'))
    % Can generate code
    if exist("exampleHelperCollisionChecker_mex","file") ~= 3
        clear mex
        % Need to generate MEX
        load('Slalom.mat')
        obsType = coder.typeof(obstacles,[inf 1]);
        boundType = coder.typeof(0,[2 6]);
        stateType = coder.typeof(0,[inf 6]);

        args = {obsType, 0, 0, 0, 0, 0, boundType, stateType};
        codegen('exampleHelperCollisionChecker', '-args', args);
    end
end