ODE45 - problem with parameters passed in odefcn

Hello,

I encountered a problem with passing extra parameters to ode. I attached the live script file with said issue.

I'll be extremely thankful for any input.

During debbuging I saw that their values inside odefcn nonsensically differ from those that I passed inside.

Answer 1

[Cris LaPierre]

I found this example helpful: https://www.mathworks.com/help/matlab/ref/ode45.html#bu3uhuk

I think you need to set up your odefun and call to ode45 as follows

odefun = @(t,theta) throwTraj(t,theta,v_tool,robot);
[t, theta] = ode45(odefun, 0:0.01:t_end, theta0);

This means you also need to update the function declaration for throwTraj

function dtheta = throwTraj(t,theta,v_tool,robot)

This will lead to a new error:;

Expected one output from a curly brace or dot indexing expression, but there were 7 results.

Error in forum_example>throwTraj (line 100)
J = [robot.s_hat(1)*p7,...

Error in forum_example (line 59)
odefun = @(t,theta) throwTraj(t,theta,v_tool,robot);

Error in odearguments (line 90)
f0 = feval(ode,t0,y0,args{:});   % ODE15I sets args{1} to yp0.

Error in ode45 (line 115)
  odearguments(FcnHandlesUsed, solver_name, ode, tspan, y0, options, varargin);

This is because you calculate J without indexing robot. You have 7 fields, so it calculates a result for each, returning 7. Everywhere else you appear to use indexing. For example

robot(1).u

[JV]

Works as planned. Thank you Sir!