Output argument "St" (and maybe others) not assigned during call to "function ".
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I got an error
Output argument "St" (and maybe others) not assigned during call to "get_StCarretero".
Error in InverseVelocityCarretero (line 25)
[St,p]=get_StCarretero(t,P)
Error in RK4_PhRS (line 21)
[k1,~,~,P1,~,~,~,q1] = F(t,th,P,q);
Error in CarreterosPRS_20200812_Velocity (line 24)
[JointValue,Stm,MM,Pose,G,FRK,Rd,q_out,Pd]=
RK4_PhRS(@InverseVelocityCarretero,0,ts,1,th,p,q);
when running the following program.
function [St,p] = get_StCarretero(t,pint)
ts = 1/1000;
rp=1000;
L=1000;
alpha=2*pi/3;
beta=4*pi/3;
A=cos(alpha)-cos(beta);
B=sin(alpha)-sin(beta);
C=(cos(beta)-1)/tan(beta)-(cos(alpha)-1)/tan(alpha);
z=707.1068;
if t==0
x=pint(1);
y=pint(2);
z=pint(3);
else
th=0.2*cos(2*pi*t);
psi=0.2*sin(2*pi*t);
R=A*(cos(th)-cos(psi))+B*cos(th)*sin(psi);
S=A*sin(th)*sin(psi)-B*cos(th)+C*cos(psi);
phi=atan(-R/S);
x=-rp*(cos(th)*cos(phi)+sin(psi)*sin(th)*sin(phi))*cos(alpha)-rp*(-cos(th)*sin(phi)+sin(psi)*sin(th)*cos(phi))*sin(alpha)+(rp/tan(alpha))*(cos(psi)*sin(phi)*(cos(alpha)-1)+cos(psi)*cos(phi)*sin(alpha));
y=-cos(psi)*sin(phi)*rp;
p=[x;y;z]
yaw = phi;
pitch= th;
roll = psi;
vx=diff([x])/ts;
vy=diff([y])/ts;
vz=diff([z])/ts;
droll=diff([psi0,roll])/ts;
dpitch=diff([th0,pitch])/ts;
dyaw=diff([phi0,yaw])/ts ;
JT=[cos(pitch)*cos(yaw) sin(yaw) 0; cos(pitch)*sin(yaw) cos(yaw) 0; -sin(pitch) 0 0];
omg=JT*[dpitch;droll;dyaw];
wx=omg(1);
wy=omg(2);
wz=omg(3);
St =[vx;vy;vz;wx;wy;wz];
end
end
Any help is apperciated
Thank you
9 个评论
Walter Roberson
2020-8-22
After you have done the calculations, but before you return, you need to update x0, y0, z0 with the current x, y, z.
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