Coder. Error due mismatched varying sizes
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Good evening. I made the function NEOEKF and then tried to convert to C++ with coder, but I got the following warning:
57 Size mismatch (size [:? x 1] ~= size [4 x 1]). Mismatched varying and fixed sizes indicate a probable run-time error. If this diagnostic is incorrect, use indexing to explicitly make the varying size fixed.
Does any one can support me how to fix it? Refer to line 57
Thank you in advance.
regards Willy
function [DIST,VEL,RB] = NEOEKF(dT,T2)
Mo = 030;
dT = 20;
T2 = 360;
Xs = [0 0 4 0];
yseg = 2025.371/3600;
F = [1 0 0 0;0 1 0 0;dT 0 1 0 ;0 dT 0 1];
dd= 100;
dve= 15;
P = [dd^2 0 0 0;
0 dd^2 0 0;
0 0 dve^2 0;
0 0 0 dve^2];
v = 0.5;
R = pi/180*v^2;
X = [];
X = [15000*sin(Mo*pi/180) 15000*cos(Mo*pi/180) 0 0]';
I=eye(4);
Q = 15*[0.5*dT^3 0 0.25*dT^4 0;0 0.5*dT^3 0 0.25*dT^4;...
dT^2 0 0.5*dT^3 0;0 dT^2 0 0.5*dT^3];
DIST = size(T2);
VEL = size(T2);
RB = size(T2);
z = 30:0.4:34;
for k = 1:1:10
X(:,k+1) = F*X(:,k);
P_ = F*P*F'+ Q;
sx = X(1,k);
sy = X(2,k);
h = atan2(sx,sy);
if h<0
h = h + 2*pi;
elseif h>2*pi
h = h - 2*pi;
end
H = [sy/(sx^2 + sy^2) -sx/(sx^2 + sy^2) 0 0];
g = [cos(z(k))/(X(1)*sin(z(k))+ X(2,k+1)*cos(z(k))) -sin(z(k))/(X(1,k+1)*...
sin(z(k))+ X(2,k+1)*cos(z(k))) 0 0];
S = H*P_*H'+ R;
G = P_*H'/S;
X(:,k+1) = X(:,k+1)+ G*(z(k) - h); % Line 57
P =(I - G*g)*P_*(I - G*g)' + G*R*G';
DIST(k+1) = sqrt(X(1,k+1).^2 + X(2,k+1).^2);
VEL(k+1) = sqrt((X(3,k+1) + Xs(3)).^2 + (X(4,k+1) + Xs(4)).^2)/yseg;
RB(k+1) = atan2(X(3,k+1)+ Xs(3),X(4,k+1) + Xs(4))*180/pi;
RB(k+1) = round(RB(k+1));
if RB(k+1)<0
RB(k+1) = RB(k+1) + 360;
elseif RB(k+1) > 360;
RB(k+1) = RB(k+1) - 360;
end
X(:,k) = [X(:,k)];
end
2 个评论
Image Analyst
2012-12-4
Guillermo, to get your code to show up on separate lines, you can highlight the code and click the {}Code icon to make it look like code. That is far better than double spacing your code. Give it a try. Edit, remove blank lines, highlight, then click {}Code and Save.
回答(1 个)
Walter Roberson
2012-12-4
Your z values are not integral, so z(k) is not integral, and h is not integral, so z(k)-h is not integral. But you have G() at that expression. G appears to be an array rather than a function, so I do not understand why it does not complain about indexing at a non-integral value ?
3 个评论
Walter Roberson
2012-12-4
Do no extend your X array at run-time. Initialize it to be its final size as the very first time you assign to X, using zeros().
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