Function definition is misplaced or improperly nested. Please help!!

Question

Mohsen Nashel 2019-10-8

0
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/484225-function-definition-is-misplaced-or-improperly-nested-please-help

回答： Rik 2019-10-8

quadData.mat

Trying to run this code, it gives me the error "Function definition is misplaced or improperly nested." 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).*sin(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 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*(q2*q1-q0*q3) 2*(q3*q1+q0*q2) 0 0 0 0;2*(q2*q1+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