anchor.diff:  
   [source,matlab]
   ----
  -%% Receiving a feedback message in MATLAB
  +%% MATLAB code for receiving an LCM message
   % Setup 
   lc = lcm.lcm.LCM.getSingleton();
   aggregator = lcm.lcm.MessageAggregator();
  
positive.code: 
  * The decoding step _fbk = types.feedback(msg.data)_ forced two unnecessary translations due to _msg.data_ being a _byte[]_, which automatically gets converted to and from _int8_. This could result in a noticeable performance hit when receiving larger messages (e.g. images) and could be avoided by adding an overload that accepts a non-primitive type that does not get translated, e.g., _fbk = types.feedback(msg)_.
  * The Java classes didn't implement https://mathworks.com/help/matlab/matlab_external/save-and-load-java-objects-to-mat-files.html[Serializable], which could become bothersome when trying to save the workspace. 
  * We'd prefer to select the decoding type during the subscription step, e.g., _lc.subscribe('FEEDBACK_CHANNEL', aggregator, 'types.feedback')_, rather than requiring users to instantiate the type manually. This cleans up the parsing code a bit and allows for a much less confusing error message if types are missing.
  
  
  
  
negative.code: 
  [source,matlab]
  ----
  %% MATLAB code for sending an LCM message
  % Setup
  lc = lcm.lcm.LCM.getSingleton();
  
  