“Dimensions of arrays being concatenated are not consistent”

I am getting said error even thoug I don't think I am not concatenating any array.

wallCordsReal = [];

    homoVecSen = [sonars(1); 0; 0; 1];
    poser = gtposes(1,:);
    transMatrix = Tsonar2univ(poser);
    tempWall = transMatrix * homoVecSen;

And here is the function Tsonar2univ:

    function transfMatrix = Tsonar2univ(poser)
    global measured_offsx;
    global measured_offsy;
    global measured_offsphi;

    %sonar origin relative to robot
    RorgS = [measured_offsx; measured_offsy; 0];
    UorgR = [poser(1); poser(2); 0];
    
    RrS = [cos(measured_offsphi), sin(measured_offsphi), 0; -sin(measured_offsphi), cos(measured_offsphi), 0; 0, 0, 1]
       
    UrR = [cos(poser(3)), -sin(poser(3)), 0; sin(poser(3)), cos(poser(3)), 0; 0, 0, 1];
       
    RtS = zeros(4,4);   
    RtS(1:3, 1:3) = RrS;
    RtS(1:3, 4) = RorgS;
    
    UtR = zeros(4,4);   
    UtR(1:3, 1:3) = UrR;
    UtR(1:3, 4) = UorgR;
    UtR(4,4) = 1;
    
    transfMatrix = UtR * RtS;
end

Answer 1

[James Tursa]

TYpe this at the command line:

dbstop if error

then run your code. When the error occurs the code will pause with all current variables intact. Examine measured_offsphi and you will probably see it is not a scalar. Then backtrack in your code and figure out why.

[Adam Steciuk]

Thank you for your response, but measured_offsphi unfortunately is a scalar

[Adam Steciuk]

There is no problem if I copy this line:

    RrS = [cos(measured_offsphi), sin(measured_offsphi), 0; -sin(measured_offsphi), cos(measured_offsphi), 0; 0, 0, 1];

and run it from the command line. RrS is created correctly that way

[James Tursa]

When you checked this, you just got the error message and were at the command line with a k>> prompt? Meaning you were in the debugger? You need to be in the debugger in order to figure this out.

[Adam Steciuk]

I am sorry, but I don't really understand you. I'm getting said error when I'm running the script and I'am not if I just copy/paste troubling line into command line.

measured_offsphi is a global constant and its value is assigned at the start of the script and it's not changed (or even used) anywhere except the Tsonar2univ function

[James Tursa]

Well, did you do what I suggested in my very first post? That puts you in the debugger where you can figure things out.

[Adam Steciuk]

I just decided to scrap idea of global variables and passed values as function arguments. And it worked