Matlab create function - Invalid expression

Hello,

can someone help me to insert a function in Matlab correctly. I don't know why it doesn't work for me.

I would like to be able to run this function in the command window

Code:

function [relative_pose_endeffector] = forward_kinematics(T_0_3, [0; 0; 0])
q_home = [0; 0; 0;];
q_actual=q_home;
relative_pose_endeffector = double(T_0_3(q_actual(1), q_actual(2),q_actual(3)))
end 

In the square brackets I can enter numbers which will be used in the function.

The code already works but I would like to put these "forward kinematics" in a Matlab function. So that I can call this function in the command window.

Can anyone tell me or help me why my function is not working there? Thanks

Here is all my code:

.

Answer 1

[Simon Chan]

Simply modify your function as follows.

function [relative_pose_endeffector] = forward_kinematics(T_0_3, q_actual)
    relative_pose_endeffector = double(T_0_3(q_actual(1), q_actual(2),q_actual(3)))
end 

[Mark S]

Ok thanks it worked. But when I insert these function now in my command window: forward_kinematics(T_0_3, q_actual - I get the error: Unrecognized function or variable 'forward_kinematics'. Because it should be possible that I can insert this function in the command window... Or can I use the function only inside of the script and not in the command window?

[Simon Chan]

You may try to save this function separately as forward_kinematics.m and put into your working folder.

Attached please find the file.

[Stephen23]

"But when I insert these function now in my command window..."

MATLAB does not permit defining functions in the command window.

Save the function in a file instead.

[Mark S]

Ok thanks very much for your help!