Matlab create function - Invalid expression

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Mark S
Mark S 2021-12-26
编辑： Mark S 2022-1-8
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
Simon Chan 2021-12-26
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
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.

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