Error using vertcat Dimensions of arrays being concatenated are not consistent.

Question

ARIFF HAIKAL 2019-11-20

0
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/492147-error-using-vertcat-dimensions-of-arrays-being-concatenated-are-not-consistent

编辑： Ridwan Alam 2019-11-20

I want to make the results for each iteration to display not just the final answer. where the first column is the iteration number and the second column is the result of each iteration.

RRTSS is a called file with an output of " ans = [ t1 dist Reach ] "

size is another variable that contain output.

but the error came out. can anyone help me ??

Ni=2

T = [];

for iteration=1:Ni

RRTSS1

T = [T; iteration size ans] ;

end

T

output :

Error using vertcat Dimensions of arrays being concatenated are not consistent.

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ARIFF HAIKAL 2019-11-20

clc; close;

openfig('newfullterrain25.fig');hold on

Xs=2; Ys=11; Zs=1; Xg=22; Yg=17; Zg=1; Qfree=64;

n=1000; step=0.7; r=sqrt((6*Qfree*log(n))/(pi*n))

s=min(r,step); P=zeros(1,n);

CON=zeros(n); Near=zeros(n); Cost=625*ones(1,n); Cost(1)=0;

size=1; Reach=0; N=zeros(2,n); N(1,1)=Xs; N(2,1)=Ys; N(3,1)=Zs;

tic;

while size<n

if sqrt((N(1,size)-Xg)^2 +(N(2,size)-Yg)^2 +(N(3,size)-Zg)^2 )<step

Reach=1; ReachG=size;

end

%%%%%%%%%%%%%%% Xrand (Collision Free) %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

CD=0;

while CD==0

Xc=24.5*rand(1)+0.25;

Yc=24.5*rand(1)+0.25;

Zc=24.5*rand(1)+0.25;

Xn=Xc; Yn=Yc; Zn=Zc; simple1ColDec

end

Xrand=Xc; Yrand=Yc; Zrand=Zc;

%%%%%%%%%%%%%%% Xnearest %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

for i=1:size

if sqrt((N(1,i)-Xrand)^2+(N(2,i)-Yrand)^2 +(N(3,i)-Zrand)^2 )<Inf

Inf=sqrt((N(1,i)-Xrand)^2+(N(2,i)-Yrand)^2 +(N(3,i)-Zrand)^2 );

Xnearest= N(1,i); Ynearest=N(2,i); Znearest=N(3,i); nearest=i;

end

%%%%%%%%%%%%%%% Xnew %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

Xc=Xnearest; Yc=Ynearest; Zc=Znearest; CD=1;

D=sqrt((Xnearest-Xrand)^2+(Ynearest-Yrand)^2 +(Znearest-Zrand)^2 );

if step<=sqrt((Xnearest-Xrand)^2 +(Ynearest-Yrand)^2 +(Znearest-Zrand)^2)

Xn=((D-step)/D)*Xnearest+(step/D)*Xrand;

Yn=((D-step)/D)*Ynearest+(step/D)*Yrand;

Zn=((D-step)/D)*Znearest+(step/D)*Zrand;

else

Xn=Xrand; Yn=Yrand; Zn=Zrand;

end

simple1steer

if CD==1

Xnew=Xrand; Ynew=Yrand; Znew=Zrand;

else

Xnew=((v-1)/625)*Xrand+(1-(v-1)/625)*Xnearest;

Ynew=((v-1)/625)*Yrand+(1-(v-1)/625)*Ynearest;

Znew=((v-1)/625)*Zrand+(1-(v-1)/625)*Znearest;

end

%%%%%%%%%%%%%%% Xnear (Finding near nodes) %%%%%%%%%%%%%%%%%%%%%%%%%%%

for i=1:size

if sqrt((N(1,i)-Xnew)^2 +(N(2,i)-Ynew)^2 +(N(3,i)-Znew)^2 )<=s

Xc=N(1,i); Yc=N(2,i); Zc=N(3,i); Xn=Xnew; Yn=Ynew; Zn=Znew; simple1ColDec

if CD==1

Near(i,size+1)=1; Near(size+1,i)=1;

end

%%%%%%%%%%%%%%% Parent (Expanding the tree) %%%%%%%%%%%%%%%%%%%%%%%%%

size=size+1;

N(1,size)=Xnew; N(2,size)=Ynew; N(3,size)=Znew; Inf=101; h=1;

for i=1:size-1

if Near(i,size)==1 && Cost(i)+sqrt((N(1,i)-Xnew)^2 +(N(2,i)-Ynew)^2 +(N(3,i)-Znew)^2 )<Inf

Inf=Cost(i)+sqrt((N(1,i)-Xnew)^2 +(N(2,i)-Ynew)^2 +(N(3,i)-Znew)^2 );

parent=i; h=0;

end

if h==1

parent=nearest;

end

P(size)=parent;

CON(parent,size)=sqrt((N(1,parent)-Xnew)^2 +(N(2,parent)-Ynew)^2 +(N(3,parent)-Znew)^2 );

CON(size,parent)=CON(parent,size);

Cost(size)=Cost(parent)+CON(parent,size);

%%%%%%%%%%%%%%% ReWire %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

for i=1:size-1

if Near(i,size)==1 && i~=P(size) && ...

Cost(size)+sqrt((N(1,i)-Xnew)^2 +(N(2,i)-Ynew)^2 +(N(3,i)-Znew)^2 )<Cost(i)

CON(i,P(i))=0; CON(P(i),i)=0;

P(i)=size;

CON(i,size)=sqrt((N(1,i)-Xnew)^2 +(N(2,i)-Ynew)^2 +(N(3,i)-Znew)^2 );

CON(size,i)=CON(i,size);

Cost(i)=Cost(size)+CON(i,size);

end

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

size

% H = size ;

% [H]

end

t1=toc

Reach;

if Reach==1

N(1,size+1)=Xg; N(2,size+1)=Yg; N(3,size+1)=Zg;

CON(ReachG,size+1)=sqrt((N(1,ReachG)-Xg)^2 +(N(2,ReachG)-Yg)^2 +(N(3,ReachG)-Zg)^2 );

CON(size+1,ReachG)=CON(ReachG,size+1);

end

T=linspace(0,2*pi);

for i=1:size

plot3(N(1,i),N(2,i), N(3,i),'go','markersize',2,'MarkerFaceColor','g');

%text(N(1,i), N(2,i),num2str(i));

%plot(N(1,i)+s*cos(T),N(2,i)+s*sin(T),'r');

for j=1:size

if CON(i,j)>0 && j>i

plot3([N(1,j) N(1,i)], [N(2,j) N(2,i)], [N(3,j) N(3,i)],'b','linewidth',1);

end

if Reach==1

G=sparse(CON);

[dist, path]=graphshortestpath(G, 1, size+1); l=length(path);

for i=1:l-1

plot3([N(1,path(i)) N(1,path(i+1))], [N(2,path(i)) ...

N(2,path(i+1))], [N(3,path(i)) N(3,path(i+1))],'k','linewidth',3);

end

% if Reach==1

% [t1 dist Reach]

% else

% Reach=0;

% end

ans = [t1,dist,Reach]

xlabel ('x')

ylabel ('y')

zlabel ('z')

plot3(Xs,Ys,Zs,'--rs','LineWidth',2.5,'MarkerEdgeColor','k',...

'MarkerFaceColor','y','MarkerSize',10); hold on

plot3(Xg,Yg,Zg,'--rs','LineWidth',2.5,'MarkerEdgeColor','k',...

'MarkerFaceColor','g','MarkerSize',10)

ARIFF HAIKAL 2019-11-20

在 MATLAB Online 中打开

clc; close; 
openfig('newfullterrain25.fig');hold on
Xs=2; Ys=11; Zs=1; Xg=22; Yg=17; Zg=1; Qfree=64; 
n=1000; step=0.7; r=sqrt((6*Qfree*log(n))/(pi*n))
s=min(r,step); P=zeros(1,n); 
CON=zeros(n); Near=zeros(n); Cost=625*ones(1,n); Cost(1)=0;
size=1; Reach=0; N=zeros(2,n); N(1,1)=Xs; N(2,1)=Ys; N(3,1)=Zs;
tic; 
while size<n
    if sqrt((N(1,size)-Xg)^2 +(N(2,size)-Yg)^2 +(N(3,size)-Zg)^2 )<step
        Reach=1; ReachG=size;
    end
    %%%%%%%%%%%%%%% Xrand (Collision Free) %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
    CD=0;
    while CD==0
        Xc=24.5*rand(1)+0.25; 
        Yc=24.5*rand(1)+0.25; 
        Zc=24.5*rand(1)+0.25;
        Xn=Xc; Yn=Yc; Zn=Zc; simple1ColDec
    end
    Xrand=Xc; Yrand=Yc; Zrand=Zc;
    %%%%%%%%%%%%%%% Xnearest %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
    for i=1:size
        if sqrt((N(1,i)-Xrand)^2+(N(2,i)-Yrand)^2 +(N(3,i)-Zrand)^2 )<Inf
            Inf=sqrt((N(1,i)-Xrand)^2+(N(2,i)-Yrand)^2 +(N(3,i)-Zrand)^2 );
            Xnearest= N(1,i); Ynearest=N(2,i); Znearest=N(3,i); nearest=i;
        end
    end
    %%%%%%%%%%%%%%% Xnew %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
    Xc=Xnearest; Yc=Ynearest; Zc=Znearest; CD=1;
    D=sqrt((Xnearest-Xrand)^2+(Ynearest-Yrand)^2 +(Znearest-Zrand)^2 );
    if step<=sqrt((Xnearest-Xrand)^2 +(Ynearest-Yrand)^2 +(Znearest-Zrand)^2)
        Xn=((D-step)/D)*Xnearest+(step/D)*Xrand;
        Yn=((D-step)/D)*Ynearest+(step/D)*Yrand;
        Zn=((D-step)/D)*Znearest+(step/D)*Zrand;
    else
       Xn=Xrand; Yn=Yrand; Zn=Zrand;
    end 
    simple1steer
    if CD==1
        Xnew=Xrand; Ynew=Yrand; Znew=Zrand;
    else
        Xnew=((v-1)/625)*Xrand+(1-(v-1)/625)*Xnearest;
        Ynew=((v-1)/625)*Yrand+(1-(v-1)/625)*Ynearest;
        Znew=((v-1)/625)*Zrand+(1-(v-1)/625)*Znearest;
    end
    %%%%%%%%%%%%%%% Xnear (Finding near nodes) %%%%%%%%%%%%%%%%%%%%%%%%%%%
    for i=1:size
        if sqrt((N(1,i)-Xnew)^2 +(N(2,i)-Ynew)^2 +(N(3,i)-Znew)^2 )<=s
            Xc=N(1,i); Yc=N(2,i); Zc=N(3,i); Xn=Xnew; Yn=Ynew; Zn=Znew; simple1ColDec
            if CD==1
                Near(i,size+1)=1; Near(size+1,i)=1;
            end
        end
    end
    %%%%%%%%%%%%%%% Parent (Expanding the tree) %%%%%%%%%%%%%%%%%%%%%%%%%
    size=size+1;
    N(1,size)=Xnew; N(2,size)=Ynew; N(3,size)=Znew; Inf=101;  h=1;
    for i=1:size-1
        if Near(i,size)==1 && Cost(i)+sqrt((N(1,i)-Xnew)^2 +(N(2,i)-Ynew)^2 +(N(3,i)-Znew)^2 )<Inf
            Inf=Cost(i)+sqrt((N(1,i)-Xnew)^2 +(N(2,i)-Ynew)^2 +(N(3,i)-Znew)^2 );
            parent=i; h=0;
        end
    end
    if h==1
        parent=nearest;
    end
    P(size)=parent; 
    CON(parent,size)=sqrt((N(1,parent)-Xnew)^2 +(N(2,parent)-Ynew)^2 +(N(3,parent)-Znew)^2 );
    CON(size,parent)=CON(parent,size);
    Cost(size)=Cost(parent)+CON(parent,size);
    %%%%%%%%%%%%%%% ReWire %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
    for i=1:size-1
        if Near(i,size)==1 && i~=P(size) && ... 
           Cost(size)+sqrt((N(1,i)-Xnew)^2 +(N(2,i)-Ynew)^2  +(N(3,i)-Znew)^2 )<Cost(i)
            CON(i,P(i))=0; CON(P(i),i)=0;
            P(i)=size; 
            CON(i,size)=sqrt((N(1,i)-Xnew)^2 +(N(2,i)-Ynew)^2 +(N(3,i)-Znew)^2 ); 
            CON(size,i)=CON(i,size);
            Cost(i)=Cost(size)+CON(i,size);
        end  
    end   
    %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%  
    size
%     H = size ; 
%     [H]
end
t1=toc
Reach;
if Reach==1
    N(1,size+1)=Xg; N(2,size+1)=Yg; N(3,size+1)=Zg;
    CON(ReachG,size+1)=sqrt((N(1,ReachG)-Xg)^2 +(N(2,ReachG)-Yg)^2 +(N(3,ReachG)-Zg)^2 );
    CON(size+1,ReachG)=CON(ReachG,size+1);
end
T=linspace(0,2*pi); 
for i=1:size
    plot3(N(1,i),N(2,i), N(3,i),'go','markersize',2,'MarkerFaceColor','g');
    %text(N(1,i), N(2,i),num2str(i));
    %plot(N(1,i)+s*cos(T),N(2,i)+s*sin(T),'r');
    for j=1:size
       if CON(i,j)>0 && j>i
           plot3([N(1,j) N(1,i)], [N(2,j) N(2,i)], [N(3,j) N(3,i)],'b','linewidth',1);
       end 
    end  
end
if Reach==1
    G=sparse(CON);
    [dist, path]=graphshortestpath(G, 1, size+1); l=length(path);
    for i=1:l-1
        plot3([N(1,path(i)) N(1,path(i+1))], [N(2,path(i)) ... 
        N(2,path(i+1))], [N(3,path(i)) N(3,path(i+1))],'k','linewidth',3);
    end 
end 
%  if Reach==1
%      [t1 dist Reach]
%   else
%       Reach=0;
%  end
ans = [t1,dist,Reach]
xlabel ('x') 
ylabel ('y')
zlabel ('z')
plot3(Xs,Ys,Zs,'--rs','LineWidth',2.5,'MarkerEdgeColor','k',...
'MarkerFaceColor','y','MarkerSize',10); hold on
plot3(Xg,Yg,Zg,'--rs','LineWidth',2.5,'MarkerEdgeColor','k',...
'MarkerFaceColor','g','MarkerSize',10)

Jan 2019-11-20

编辑：Jan 2019-11-20

Do not overload important Matlab commands, because this must end in confusions. "size", "Inf", "ans", "path".

Which line is cause the error?

We cannot run your code due to the missing script "simple1ColDec".

Using l as name of a variable provokes the confusion with 1. Using one command per line is recommended also.

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Answer 1

Ridwan Alam 2019-11-20

0
链接

此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/492147-error-using-vertcat-dimensions-of-arrays-being-concatenated-are-not-consistent#answer_402509

编辑：Ridwan Alam 2019-11-20

在 MATLAB Online 中打开

In the RRTSS1 script, "dist" is defined inside an "if" statement without any "else" for "dist" value.

So if Reach=0, then ans = [t1 [] Reach] which is not 3x1, rather a 2x1 vector.

This is causing the dimension mismatch.

if Reach==1
    G=sparse(CON);
    [dist, path]=graphshortestpath(G, 1, size+1); l=length(path);
    for i=1:l-1
        plot3([N(1,path(i)) N(1,path(i+1))], [N(2,path(i)) ... 
        N(2,path(i+1))], [N(3,path(i)) N(3,path(i+1))],'k','linewidth',3);
    end
else
    dist = 0;
end 

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Error using vertcat Dimensions of arrays being concatenated are not consistent.

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Error using vertcat Dimensions of arrays being concatenated are not consistent.

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