Invalid expression. Check for missing multiplication operator, missing or unbalanced delimiters, or other syntax error. To construct matrices, use brackets instead of parentheses

Question

Mohsen Nashel 2019-10-8

0
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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/484210-invalid-expression-check-for-missing-multiplication-operator-missing-or-unbalanced-delimiters-or

评论： the cyclist 2019-10-8

quadData.mat

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