Function Return only one value
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My Code is as follows:
function [X,Y] = MyEKFFun(theta1,theta2,theta3,r1,r2,r3,t1,t2,t3,T)
S = [100 0 0 0 0 0;
0 100 0 0 0 0;
0 0 100 0 0 0;
0 0 0 100 0 0;
0 0 0 0 100 0;
0 0 0 0 0 100];
prev_S = S;
Big_lambda = eye(3);
a=0;
b=0;
c=0;
p=0;
q=0;
s=0;
est_vec=[ a ; b; c; p; q; s];
%theta = [ 31 24 18] ;
%t= [ 1 1.1 1.2 ];
%r= [330 364 379];
theta = [ theta1 theta2 theta3] ;
t= [ t1 t2 t3 ];
r= [r1 r2 r3];
%Wanted = num2cell(M,1)
%[r,b,distance,angle]=deal(Wanted{:})
x = [ r; theta ; t];
%dif_x=zeros(2,3);
dif_a = arrayfun(@(t) [t^2 t 1 0 0 0; 0 0 0 t^2 t 1],t,'UniformOutput',false);
%time=2;
time=T;
dif_x = zeros(2, 3, 3); % Pre-allocation
w = zeros(2, 1, 3); % Pre-allocation
%pred_x = zeros(3, 3, 3);
W = zeros(2,2);
y = zeros(2, 1, 3);
K = zeros(6, 2, 3);
for i=1:3
dif_x(:, :, i) = [-cos(theta(i)), r(i).*sin(theta(i)), 2*a.*t(i)+b;...
-sin(theta(i)), -r(i).*cos(theta(i)), 2*p.*t(i)+q];
W(:,:,i) = dif_x(:,:,i)*Big_lambda(i)*dif_x(:,:,i)';
pred_x = x(:,i)+randn(3,1);
w(:,:,i) = dif_x(:,:,i) * (x(:,i)-pred_x);
y(:,:,i) = dif_a{i} * est_vec + w(:,:,i);
K(:,:,i) = prev_S*dif_a{i}'/((W(:,:,i) + dif_a{i}*prev_S*dif_a{i}'));
est_vec_new = est_vec + K(:,:,i)*(y(:,:,i)-dif_a{i}*est_vec);
cond = abs(est_vec_new - est_vec);
if cond < 0.003
break
end
est_vec = est_vec_new;
a=est_vec(1,1);
b=est_vec(2,1);
c=est_vec(3,1);
p=est_vec(4,1);
q=est_vec(5,1);
s=est_vec(6,1);
S_new = (eye(6) - (K(:,:,i)*dif_a{i}))*prev_S;
prev_S = S_new;
%X(i) = a*time.^2+b*time+c; % To calculate x co-ordinate for t>=3
%Y(i) = p*time.^2+q*time+s; % To calculate y co-ordinate for t>=3
%figure,plot(t,meas_equa1)
%new_t=[t,time];
%figure,plot(r_cosTheta,r_sineTheta)
end
X = a*time.^2+b*time+c; % To calculate x co-ordinate for t>=3
Y = p*time.^2+q*time+s;
end
Now my question is why it returns only one values as 'ans'.It should be two values which is calculated as 'X,Y' from the updated values of the for loop.But the function always returns one value titled answer, like as follows:
>> MyEKFFun(31,24,18,330,364,379,1,1.1,1.3,2)
ans =
384.4037
Please help anyone.
Thanks in advance.
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답변 (2개)
James Tursa
2019년 5월 15일
편집: James Tursa
2019년 5월 15일
Call it with two requested outputs:
[X,Y] = MyEKFFun(31,24,18,330,364,379,1,1.1,1.3,2)
Since you were calling it with no requested outputs, MATLAB simply put the first one in ans and threw away the second one.
Jon Wieser
2019년 5월 15일
when you call the function, you need to specify two outputs,
for example:
[X,Y] =MyEKFFun(31,24,18,330,364,379,1,1.1,1.3,2)
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