Matlab create function - Invalid expression

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Mark S 2021-12-26

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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1617510-matlab-create-function-invalid-expression

编辑： Mark S 2022-1-8

采纳的回答： Simon Chan

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Hello,

can someone help me to insert a function in Matlab correctly. I don't know why it doesn't work for me.

I would like to be able to run this function in the command window

Code:

function [relative_pose_endeffector] = forward_kinematics(T_0_3, [0; 0; 0])
q_home = [0; 0; 0;];
q_actual=q_home;
relative_pose_endeffector = double(T_0_3(q_actual(1), q_actual(2),q_actual(3)))
end 

In the square brackets I can enter numbers which will be used in the function.

The code already works but I would like to put these "forward kinematics" in a Matlab function. So that I can call this function in the command window.

Can anyone tell me or help me why my function is not working there? Thanks

Here is all my code:

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采纳的回答

Simon Chan 2021-12-26

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此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1617510-matlab-create-function-invalid-expression#answer_862025

在 MATLAB Online 中打开

Simply modify your function as follows.

function [relative_pose_endeffector] = forward_kinematics(T_0_3, q_actual)
    relative_pose_endeffector = double(T_0_3(q_actual(1), q_actual(2),q_actual(3)))
end 

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Stephen23 2021-12-26

"But when I insert these function now in my command window..."

MATLAB does not permit defining functions in the command window.

Save the function in a file instead.

Mark S 2021-12-26

Ok thanks very much for your help!

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