Output argument "St" (and maybe others) not assigned during call to "function ".
2 ビュー (過去 30 日間)
古いコメントを表示
I got an error
Output argument "St" (and maybe others) not assigned during call to "get_StCarretero".
Error in InverseVelocityCarretero (line 25)
[St,p]=get_StCarretero(t,P)
Error in RK4_PhRS (line 21)
[k1,~,~,P1,~,~,~,q1] = F(t,th,P,q);
Error in CarreterosPRS_20200812_Velocity (line 24)
[JointValue,Stm,MM,Pose,G,FRK,Rd,q_out,Pd]=
RK4_PhRS(@InverseVelocityCarretero,0,ts,1,th,p,q);
when running the following program.
function [St,p] = get_StCarretero(t,pint)
ts = 1/1000;
rp=1000;
L=1000;
alpha=2*pi/3;
beta=4*pi/3;
A=cos(alpha)-cos(beta);
B=sin(alpha)-sin(beta);
C=(cos(beta)-1)/tan(beta)-(cos(alpha)-1)/tan(alpha);
z=707.1068;
if t==0
x=pint(1);
y=pint(2);
z=pint(3);
else
th=0.2*cos(2*pi*t);
psi=0.2*sin(2*pi*t);
R=A*(cos(th)-cos(psi))+B*cos(th)*sin(psi);
S=A*sin(th)*sin(psi)-B*cos(th)+C*cos(psi);
phi=atan(-R/S);
x=-rp*(cos(th)*cos(phi)+sin(psi)*sin(th)*sin(phi))*cos(alpha)-rp*(-cos(th)*sin(phi)+sin(psi)*sin(th)*cos(phi))*sin(alpha)+(rp/tan(alpha))*(cos(psi)*sin(phi)*(cos(alpha)-1)+cos(psi)*cos(phi)*sin(alpha));
y=-cos(psi)*sin(phi)*rp;
p=[x;y;z]
yaw = phi;
pitch= th;
roll = psi;
vx=diff([x])/ts;
vy=diff([y])/ts;
vz=diff([z])/ts;
droll=diff([psi0,roll])/ts;
dpitch=diff([th0,pitch])/ts;
dyaw=diff([phi0,yaw])/ts ;
JT=[cos(pitch)*cos(yaw) sin(yaw) 0; cos(pitch)*sin(yaw) cos(yaw) 0; -sin(pitch) 0 0];
omg=JT*[dpitch;droll;dyaw];
wx=omg(1);
wy=omg(2);
wz=omg(3);
St =[vx;vy;vz;wx;wy;wz];
end
end
Any help is apperciated
Thank you
9 件のコメント
Walter Roberson
2020 年 8 月 22 日
After you have done the calculations, but before you return, you need to update x0, y0, z0 with the current x, y, z.
回答 (0 件)
参考
カテゴリ
Help Center および File Exchange で LMI Solvers についてさらに検索
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!