MATLAB Answers

Function Return only one value

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Tipu Sultan
Tipu Sultan 2019 年 5 月 15 日
コメント済み: Tipu Sultan 2019 年 5 月 16 日
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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回答 (2 件)

James Tursa
James Tursa 2019 年 5 月 15 日
編集済み: James Tursa 2019 年 5 月 15 日
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.

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Tipu Sultan
Tipu Sultan 2019 年 5 月 16 日
Ok thanks.
Can you tell me my code is correct or my implementation is correct or not!
My algorithm is as follows:

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Jon Wieser
Jon Wieser 2019 年 5 月 15 日
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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Tipu Sultan
Tipu Sultan 2019 年 5 月 16 日
Thanks!

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