Invalid expression. Check for missing multiplication operator, missing or unbalanced delimiters, or other syntax error. To construct matrices, use brackets instead of parentheses
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I am trying to a legend graph of position versus time by running this code and its giving me a lot of errors. First error is "Invalid expression. Check for missing multiplication operator, missing or unbalanced delimiters, or other syntax
error. To construct matrices, use brackets instead of parentheses." Please help!
varInput = load('quadData.mat');
qDat = varInput.quadrotor;
[n,~] = size(qDat);
Xi_0 = [qDat(1,2:4)'; qDat(1,8:10)'];
v = qDat(:,5:7);
omega = qDat(:,11:13);
t=qDat(:,1);
dt=qDat(2,1) - qDat(1,1);
T_initial = qDat(1,1);
T_final = qDat(end,1);
phi=qDat(:,8);
th=qDat(:,9);
psi=qDat(:,10);
q_tr=[cos(0.5*psi).*cos(0.5*th).*cos(0.5*phi)+sin(0.5*psi).*sin(0.5*th).*sin(0.5*phi),cos(0.5*psi).*cos(0.5*th).*sin(0.5*phi)-sin(0.5*psi).*sim(0.5*th).*cos(0.5*phi),cos(0.5*psi).*sin(0.5*th).*cos(0.5*phi)+sin(0.5*psi).*cos(0.5*th).*sin(0.5*phi),sin(0.5*psi).*cos(0.5*th).*cos(0.5*phi)-cos(0.5*psi).*sin(0.5*th).*sin(0.5*phi)]
Xi_0=[qDat(1,2:4)';q_tr(1,:)'];
pose_dot(1,Xi_0,dt,v,omega);
[t_out,Xi] = ode45(@pose_dot,[T_initial T_final],Xi_0);
figure
plot(t_out,Xi(:,4:7),':');
hold on
plot(t,q_tr,'-');
legend('q_0', 'q_q','q_2','q_3','q_{0,true}','q_{1,true}','q_{2,true}','q_{3,true}');
grid on
title('Quanternions vs. Time Graph');
xlabel('Time s');
ylabel('Quanternion');
figure
plot(t_out,Xi(:,1:3),':');
hold on
plot(t,qDat(:,2:4),'-');
legend('x_{calc}','y_{calc}','z_{calc}','x_{true}','y_{true}','z_{true}');
grid on
title('Position vs. Time');
xlabel('Time s');
ylabel('Position m');
function Xi_dot = pose_dot(t,Xi,dt,v,omega)
ind = floor(t/dt) + 1;
nu = [v(ind,:)'; 0.5*Xi(4:7)];
q0 = Xi(4);
q1 = Xi(5);
q2 = Xi(6);
q3 = Xi(7);
Xi_dot=[q0^2+q1^2-q2^2-q3^2 2*(q2q1-q0*q3) 2*(q3*q1+q0*q2) 0 0 0 0;2*(q2q1+q0*q3) q0^2-q1^2+q2^2-q3^2 2*(q3*q2-q0*q1) 0 0 0 0;2*(q3*q1-q0*q2) 2*(q3*q2-q0*q1) q0^2-q1^2-q2^2+q3^2 0 0 0 0;0 0 0 0 -omega(ind,1) -omega(ind,2) -omega(ind,3);0 0 0 omega(ind,1) 0 omega(ind,3) -omega(ind,2);0 0 0 omega(ind,2) -omega(ind,3) 0 omega(ind,1);0 0 0 omega(ind,3) omega(ind,2) -omega(ind,1) 0]*nu;
end
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답변 (1개)
the cyclist
2019년 10월 8일
편집: the cyclist
2019년 10월 8일
I've spotted two errors so far.
(1) Where you have
0.5th
where you presumably want
0.5*th
(2) In that same line, you typo'ed sin() once as sim().
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