error ode45 (line 115)

my code is this

clc, clear, close all


% ========================================================================
% ========================= INITIALIZATION PHASE =========================
% ========================================================================

iter = 0; T = 0; % initial iteration and time vector

% ========================================================================
% ======= All changes in the initial conditions of the trajectory ========
% ======== and the initial position of the robot are done here ===========
% ========================================================================

xr = 0; yr = 0; thr = 0; % ### initial real robot states
xest = 0; yest = 0; thest = 0; % ### initial estimated robot states

Xr = xr; Yr = yr; THr = thr; % initial real states vectors
Xest = xest; Yest = yest; THest = thest; % initial estimated robot states vectors


% ========================================================================
% ======================== SIMULATION PARAMETERS =========================
% ========================================================================

thetaplot = linspace(0,2*pi,180);
rlength = 0.06; rwidth = 0.04;

ts = 0.05; tstop = 60;

lamda = 0.1; % Distance between the two wheels. Needed for the simulation

% ========================================================================
% ============================ SIMULATION LOOP ===========================
% ========================================================================

while T(end)<=tstop % loop until current time exceeds stop time

    figure(1), clf, hold on % close the previous and open a new figure

    set(gcf,'color',[1,1,1]) % set figure properties
    set(gca,'fontname','times','fontsize',14,'box','on')

    xlabel('x [m]','fontname','times','fontsize',14)
    ylabel('y [m]','fontname','times','fontsize',14)

   
    % ====================================================================
    % ========== For each case of velocity profile that needs  ===========
    % =================== to be simulated change them here ===============
    % ====================================================================
    
    v = 0.5; % current reference translational velocity
    w = 0.5; % current reference rotational velocity

    
    % ====================================================================
    % ======================= REAL ROBOT =================================
    % ====================================================================
     
    % ====================================================================
    % =========== This simulates the movement of the real robot ==========
    % ======== according to the forward kinematics that are given ========
    % ====================================================================
    
    [tsolr,xsolr] = ode45(@DifferentialDriveKinematics,[iter*ts (iter+1)*ts],[xr,yr,thr]',[],[v,w]); % call ode45 to compute current reference states

    xsolr = xsolr(end,:); tsolr = tsolr(end); % keep the last index
    xr = xsolr(1); yr = xsolr(2); thr = xsolr(3); % these are the current real states
  
    Xr = [Xr;xr]; Yr = [Yr;yr]; THr = [THr;thr]; % insert current real states into reference states vector
    
    T = [T;(iter+1)*ts];
    
    % ====================================================================
    % ================ DEAD RECKONING ALGORITHM DESIGN ===================
    % ====================================================================
    

    % ====================================================================
    % =========== At this point the implementation of the dead ===========
    % ================= reckoning algorithm should be given ==============
    % ====================================================================
   
    
    
    % thest = ;
    % xest = ;
    % yest = ;
        
    Xest = [Xest;xest]; Yest = [Yest;yest]; THest = [THest;thest]; % insert current reference states into reference states vector
    
    
    % ====================================================================
    % ============================ PLOT FRAME ============================
    % ====================================================================
    
    
    % ========================= REAL ROBOT PLOT FRAME ====================
    plot(Xr,Yr,'b-','linewidth',2) % plot the robot path
    fill(xr + cos(thr)*rlength*cos(thetaplot) - sin(thr)*rwidth*sin(thetaplot),...
        yr + sin(thr)*rlength*cos(thetaplot) + cos(thr)*rwidth*sin(thetaplot),[0 0 0.8],'EdgeColor','none','FaceAlpha', 0.8);
    
    plot([xr+cos(thr)*(-rlength/3)-sin(thr)*rwidth xr+cos(thr)*(rlength/3)-sin(thr)*rwidth],...
        [yr+sin(thr)*(-rlength/3)+cos(thr)*rwidth yr+sin(thr)*(rlength/3)+cos(thr)*rwidth],'k','linewidth',5);
    
    plot([xr+cos(thr)*(-rlength/3)-sin(thr)*(-rwidth) xr+cos(thr)*(rlength/3)-sin(thr)*(-rwidth)],...
        [yr+sin(thr)*(-rlength/3)+cos(thr)*(-rwidth) yr+sin(thr)*(rlength/3)+cos(thr)*(-rwidth)],'k','linewidth',5);
  
    % ===================== ESTIMATED ROBOT PLOT FRAME ===================
    
    plot(Xest,Yest,'r-','linewidth',2) % plot the robot path
    fill(xest + cos(thest)*rlength*cos(thetaplot) - sin(thest)*rwidth*sin(thetaplot),...
        yest + sin(thest)*rlength*cos(thetaplot) + cos(thest)*rwidth*sin(thetaplot),[0.8 0 0],'EdgeColor','none','FaceAlpha', 0.8);
    
    plot([xest+cos(thest)*(-rlength/3)-sin(thest)*rwidth xest+cos(thest)*(rlength/3)-sin(thest)*rwidth],...
        [yest+sin(thest)*(-rlength/3)+cos(thest)*rwidth yest+sin(thest)*(rlength/3)+cos(thest)*rwidth],'k','linewidth',5);
    
    plot([xest+cos(thest)*(-rlength/3)-sin(thest)*(-rwidth) xest+cos(thest)*(rlength/3)-sin(thest)*(-rwidth)],...
        [yest+sin(thest)*(-rlength/3)+cos(thest)*(-rwidth) yest+sin(thest)*(rlength/3)+cos(thest)*(-rwidth)],'k','linewidth',5);
    
    
    title(sprintf('Blue: Real Robot -  Red: Estimated Robot\n Current time [sec]: %.2f',T(end)),...
        'fontname','times','fontsize',14) % insert a title with current simulation time

    axis tight, axis equal % set the axes to fill the plot and equalize the axes

    pause(0.01); % a small pause


    % ============================ NEXT LOOP =============================
    % ====================================================================
    iter=iter+1; % go to the next iteration

end % end the simulation loop

Errors output:

出错 ode45 (line 115)

odearguments(FcnHandlesUsed, solver_name, ode, tspan, y0, options, varargin);

出错 DeadReckoningTemplate (line 67)

[tsolr,xsolr] = ode45(@DifferentialDriveKinematics,[iter*ts (iter+1)*ts],[xr,yr,thr]',[],[v,w]); % call ode45 to compute current reference states

Someone tell where is wrong and how to correct it please

[darova]

Can you show?

Answer 1

[Walter Roberson]

    [tsolr,xsolr] = ode45(@DifferentialDriveKinematics,[iter*ts (iter+1)*ts],[xr,yr,thr]',[],[v,w]); % call ode45 to compute current reference states
                           |                             |                     |           |    |
                         ODEFUN                        TSPAN                   Y0       options ???
                         

There is no documented input for ode45 after options; there has not been a documented input there for over 15 years. You cannot predict what will happen when it encounters that input.

http://www.mathworks.com/help/matlab/math/parameterizing-functions.html