Error using vertcat Dimensions of arrays being concatenated are not consistent.

I want to make the results for each iteration to display not just the final answer. where the first column is the iteration number and the second column is the result of each iteration.

RRTSS is a called file with an output of " ans = [ t1 dist Reach ] "

size is another variable that contain output.

but the error came out. can anyone help me ??

Ni=2

T = [];

for iteration=1:Ni

RRTSS1

T = [T; iteration size ans] ;

end

T

output :

Error using vertcat Dimensions of arrays being concatenated are not consistent.

[Ridwan Alam]

Can you provide the real code snippet? that will help to debug, currently it's hard to understand what the problem is.

ans = [0 0 3]; 
size = 5;
T = [];
for i=1:2
    T = [T; i size ans]
end

T =

     1     5     0     0     3


T =

     1     5     0     0     3
     2     5     0     0     3

[ARIFF HAIKAL]

sorry ,

real code snippet means ?

[M]

Please show how are size and ans defined.

[ARIFF HAIKAL]

clc; close;

openfig('newfullterrain25.fig');hold on

Xs=2; Ys=11; Zs=1; Xg=22; Yg=17; Zg=1; Qfree=64;

n=1000; step=0.7; r=sqrt((6*Qfree*log(n))/(pi*n))

s=min(r,step); P=zeros(1,n);

CON=zeros(n); Near=zeros(n); Cost=625*ones(1,n); Cost(1)=0;

size=1; Reach=0; N=zeros(2,n); N(1,1)=Xs; N(2,1)=Ys; N(3,1)=Zs;

tic;

while size<n

if sqrt((N(1,size)-Xg)^2 +(N(2,size)-Yg)^2 +(N(3,size)-Zg)^2 )<step

Reach=1; ReachG=size;

end

%%%%%%%%%%%%%%% Xrand (Collision Free) %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

CD=0;

while CD==0

Xc=24.5*rand(1)+0.25;

Yc=24.5*rand(1)+0.25;

Zc=24.5*rand(1)+0.25;

Xn=Xc; Yn=Yc; Zn=Zc; simple1ColDec

end

Xrand=Xc; Yrand=Yc; Zrand=Zc;

%%%%%%%%%%%%%%% Xnearest %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

for i=1:size

if sqrt((N(1,i)-Xrand)^2+(N(2,i)-Yrand)^2 +(N(3,i)-Zrand)^2 )<Inf

Inf=sqrt((N(1,i)-Xrand)^2+(N(2,i)-Yrand)^2 +(N(3,i)-Zrand)^2 );

Xnearest= N(1,i); Ynearest=N(2,i); Znearest=N(3,i); nearest=i;

end

end

%%%%%%%%%%%%%%% Xnew %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

Xc=Xnearest; Yc=Ynearest; Zc=Znearest; CD=1;

D=sqrt((Xnearest-Xrand)^2+(Ynearest-Yrand)^2 +(Znearest-Zrand)^2 );

if step<=sqrt((Xnearest-Xrand)^2 +(Ynearest-Yrand)^2 +(Znearest-Zrand)^2)

Xn=((D-step)/D)*Xnearest+(step/D)*Xrand;

Yn=((D-step)/D)*Ynearest+(step/D)*Yrand;

Zn=((D-step)/D)*Znearest+(step/D)*Zrand;

else

Xn=Xrand; Yn=Yrand; Zn=Zrand;

end

simple1steer

if CD==1

Xnew=Xrand; Ynew=Yrand; Znew=Zrand;

else

Xnew=((v-1)/625)*Xrand+(1-(v-1)/625)*Xnearest;

Ynew=((v-1)/625)*Yrand+(1-(v-1)/625)*Ynearest;

Znew=((v-1)/625)*Zrand+(1-(v-1)/625)*Znearest;

end

%%%%%%%%%%%%%%% Xnear (Finding near nodes) %%%%%%%%%%%%%%%%%%%%%%%%%%%

for i=1:size

if sqrt((N(1,i)-Xnew)^2 +(N(2,i)-Ynew)^2 +(N(3,i)-Znew)^2 )<=s

Xc=N(1,i); Yc=N(2,i); Zc=N(3,i); Xn=Xnew; Yn=Ynew; Zn=Znew; simple1ColDec

if CD==1

Near(i,size+1)=1; Near(size+1,i)=1;

end

end

end

%%%%%%%%%%%%%%% Parent (Expanding the tree) %%%%%%%%%%%%%%%%%%%%%%%%%

size=size+1;

N(1,size)=Xnew; N(2,size)=Ynew; N(3,size)=Znew; Inf=101; h=1;

for i=1:size-1

if Near(i,size)==1 && Cost(i)+sqrt((N(1,i)-Xnew)^2 +(N(2,i)-Ynew)^2 +(N(3,i)-Znew)^2 )<Inf

Inf=Cost(i)+sqrt((N(1,i)-Xnew)^2 +(N(2,i)-Ynew)^2 +(N(3,i)-Znew)^2 );

parent=i; h=0;

end

end

if h==1

parent=nearest;

end

P(size)=parent;

CON(parent,size)=sqrt((N(1,parent)-Xnew)^2 +(N(2,parent)-Ynew)^2 +(N(3,parent)-Znew)^2 );

CON(size,parent)=CON(parent,size);

Cost(size)=Cost(parent)+CON(parent,size);

%%%%%%%%%%%%%%% ReWire %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

for i=1:size-1

if Near(i,size)==1 && i~=P(size) && ...

Cost(size)+sqrt((N(1,i)-Xnew)^2 +(N(2,i)-Ynew)^2 +(N(3,i)-Znew)^2 )<Cost(i)

CON(i,P(i))=0; CON(P(i),i)=0;

P(i)=size;

CON(i,size)=sqrt((N(1,i)-Xnew)^2 +(N(2,i)-Ynew)^2 +(N(3,i)-Znew)^2 );

CON(size,i)=CON(i,size);

Cost(i)=Cost(size)+CON(i,size);

end

end

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

size

% H = size ;

% [H]

end

t1=toc

Reach;

if Reach==1

N(1,size+1)=Xg; N(2,size+1)=Yg; N(3,size+1)=Zg;

CON(ReachG,size+1)=sqrt((N(1,ReachG)-Xg)^2 +(N(2,ReachG)-Yg)^2 +(N(3,ReachG)-Zg)^2 );

CON(size+1,ReachG)=CON(ReachG,size+1);

end

T=linspace(0,2*pi);

for i=1:size

plot3(N(1,i),N(2,i), N(3,i),'go','markersize',2,'MarkerFaceColor','g');

%text(N(1,i), N(2,i),num2str(i));

%plot(N(1,i)+s*cos(T),N(2,i)+s*sin(T),'r');

for j=1:size

if CON(i,j)>0 && j>i

plot3([N(1,j) N(1,i)], [N(2,j) N(2,i)], [N(3,j) N(3,i)],'b','linewidth',1);

end

end

end

if Reach==1

G=sparse(CON);

[dist, path]=graphshortestpath(G, 1, size+1); l=length(path);

for i=1:l-1

plot3([N(1,path(i)) N(1,path(i+1))], [N(2,path(i)) ...

N(2,path(i+1))], [N(3,path(i)) N(3,path(i+1))],'k','linewidth',3);

end

end

% if Reach==1

% [t1 dist Reach]

% else

% Reach=0;

% end

ans = [t1,dist,Reach]

xlabel ('x')

ylabel ('y')

zlabel ('z')

plot3(Xs,Ys,Zs,'--rs','LineWidth',2.5,'MarkerEdgeColor','k',...

'MarkerFaceColor','y','MarkerSize',10); hold on

plot3(Xg,Yg,Zg,'--rs','LineWidth',2.5,'MarkerEdgeColor','k',...

'MarkerFaceColor','g','MarkerSize',10)

[Ridwan Alam]

By real code snippet I meant if you can copy the actual Matlab code and paste it here, specially the part where RRTSS1 is defined.

[ARIFF HAIKAL]

clc; close; 
openfig('newfullterrain25.fig');hold on
Xs=2; Ys=11; Zs=1; Xg=22; Yg=17; Zg=1; Qfree=64; 
n=1000; step=0.7; r=sqrt((6*Qfree*log(n))/(pi*n))
s=min(r,step); P=zeros(1,n); 
CON=zeros(n); Near=zeros(n); Cost=625*ones(1,n); Cost(1)=0;
size=1; Reach=0; N=zeros(2,n); N(1,1)=Xs; N(2,1)=Ys; N(3,1)=Zs;
tic; 
while size<n
    if sqrt((N(1,size)-Xg)^2 +(N(2,size)-Yg)^2 +(N(3,size)-Zg)^2 )<step
        Reach=1; ReachG=size;
    end
    %%%%%%%%%%%%%%% Xrand (Collision Free) %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
    CD=0;
    while CD==0
        Xc=24.5*rand(1)+0.25; 
        Yc=24.5*rand(1)+0.25; 
        Zc=24.5*rand(1)+0.25;
        Xn=Xc; Yn=Yc; Zn=Zc; simple1ColDec
    end
    Xrand=Xc; Yrand=Yc; Zrand=Zc;
    %%%%%%%%%%%%%%% Xnearest %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
    for i=1:size
        if sqrt((N(1,i)-Xrand)^2+(N(2,i)-Yrand)^2 +(N(3,i)-Zrand)^2 )<Inf
            Inf=sqrt((N(1,i)-Xrand)^2+(N(2,i)-Yrand)^2 +(N(3,i)-Zrand)^2 );
            Xnearest= N(1,i); Ynearest=N(2,i); Znearest=N(3,i); nearest=i;
        end
    end
    %%%%%%%%%%%%%%% Xnew %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
    Xc=Xnearest; Yc=Ynearest; Zc=Znearest; CD=1;
    D=sqrt((Xnearest-Xrand)^2+(Ynearest-Yrand)^2 +(Znearest-Zrand)^2 );
    if step<=sqrt((Xnearest-Xrand)^2 +(Ynearest-Yrand)^2 +(Znearest-Zrand)^2)
        Xn=((D-step)/D)*Xnearest+(step/D)*Xrand;
        Yn=((D-step)/D)*Ynearest+(step/D)*Yrand;
        Zn=((D-step)/D)*Znearest+(step/D)*Zrand;
    else
       Xn=Xrand; Yn=Yrand; Zn=Zrand;
    end 
    simple1steer
    if CD==1
        Xnew=Xrand; Ynew=Yrand; Znew=Zrand;
    else
        Xnew=((v-1)/625)*Xrand+(1-(v-1)/625)*Xnearest;
        Ynew=((v-1)/625)*Yrand+(1-(v-1)/625)*Ynearest;
        Znew=((v-1)/625)*Zrand+(1-(v-1)/625)*Znearest;
    end
    %%%%%%%%%%%%%%% Xnear (Finding near nodes) %%%%%%%%%%%%%%%%%%%%%%%%%%%
    for i=1:size
        if sqrt((N(1,i)-Xnew)^2 +(N(2,i)-Ynew)^2 +(N(3,i)-Znew)^2 )<=s
            Xc=N(1,i); Yc=N(2,i); Zc=N(3,i); Xn=Xnew; Yn=Ynew; Zn=Znew; simple1ColDec
            if CD==1
                Near(i,size+1)=1; Near(size+1,i)=1;
            end
        end
    end
    %%%%%%%%%%%%%%% Parent (Expanding the tree) %%%%%%%%%%%%%%%%%%%%%%%%%
    size=size+1;
    N(1,size)=Xnew; N(2,size)=Ynew; N(3,size)=Znew; Inf=101;  h=1;
    for i=1:size-1
        if Near(i,size)==1 && Cost(i)+sqrt((N(1,i)-Xnew)^2 +(N(2,i)-Ynew)^2 +(N(3,i)-Znew)^2 )<Inf
            Inf=Cost(i)+sqrt((N(1,i)-Xnew)^2 +(N(2,i)-Ynew)^2 +(N(3,i)-Znew)^2 );
            parent=i; h=0;
        end
    end
    if h==1
        parent=nearest;
    end
    P(size)=parent; 
    CON(parent,size)=sqrt((N(1,parent)-Xnew)^2 +(N(2,parent)-Ynew)^2 +(N(3,parent)-Znew)^2 );
    CON(size,parent)=CON(parent,size);
    Cost(size)=Cost(parent)+CON(parent,size);
    %%%%%%%%%%%%%%% ReWire %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
    for i=1:size-1
        if Near(i,size)==1 && i~=P(size) && ... 
           Cost(size)+sqrt((N(1,i)-Xnew)^2 +(N(2,i)-Ynew)^2  +(N(3,i)-Znew)^2 )<Cost(i)
            CON(i,P(i))=0; CON(P(i),i)=0;
            P(i)=size; 
            CON(i,size)=sqrt((N(1,i)-Xnew)^2 +(N(2,i)-Ynew)^2 +(N(3,i)-Znew)^2 ); 
            CON(size,i)=CON(i,size);
            Cost(i)=Cost(size)+CON(i,size);
        end  
    end   
    %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%  
    size
%     H = size ; 
%     [H]
end
t1=toc
Reach;
if Reach==1
    N(1,size+1)=Xg; N(2,size+1)=Yg; N(3,size+1)=Zg;
    CON(ReachG,size+1)=sqrt((N(1,ReachG)-Xg)^2 +(N(2,ReachG)-Yg)^2 +(N(3,ReachG)-Zg)^2 );
    CON(size+1,ReachG)=CON(ReachG,size+1);
end
T=linspace(0,2*pi); 
for i=1:size
    plot3(N(1,i),N(2,i), N(3,i),'go','markersize',2,'MarkerFaceColor','g');
    %text(N(1,i), N(2,i),num2str(i));
    %plot(N(1,i)+s*cos(T),N(2,i)+s*sin(T),'r');
    for j=1:size
       if CON(i,j)>0 && j>i
           plot3([N(1,j) N(1,i)], [N(2,j) N(2,i)], [N(3,j) N(3,i)],'b','linewidth',1);
       end 
    end  
end
if Reach==1
    G=sparse(CON);
    [dist, path]=graphshortestpath(G, 1, size+1); l=length(path);
    for i=1:l-1
        plot3([N(1,path(i)) N(1,path(i+1))], [N(2,path(i)) ... 
        N(2,path(i+1))], [N(3,path(i)) N(3,path(i+1))],'k','linewidth',3);
    end 
end 
%  if Reach==1
%      [t1 dist Reach]
%   else
%       Reach=0;
%  end
ans = [t1,dist,Reach]
xlabel ('x') 
ylabel ('y')
zlabel ('z')
plot3(Xs,Ys,Zs,'--rs','LineWidth',2.5,'MarkerEdgeColor','k',...
'MarkerFaceColor','y','MarkerSize',10); hold on
plot3(Xg,Yg,Zg,'--rs','LineWidth',2.5,'MarkerEdgeColor','k',...
'MarkerFaceColor','g','MarkerSize',10)

[Jan]

Do not overload important Matlab commands, because this must end in confusions. "size", "Inf", "ans", "path".

Which line is cause the error?

We cannot run your code due to the missing script "simple1ColDec".

Using l as name of a variable provokes the confusion with 1. Using one command per line is recommended also.

Answer 1

[Ridwan Alam]

In the RRTSS1 script, "dist" is defined inside an "if" statement without any "else" for "dist" value.

So if Reach=0, then ans = [t1 [] Reach] which is not 3x1, rather a 2x1 vector.

This is causing the dimension mismatch.

if Reach==1
    G=sparse(CON);
    [dist, path]=graphshortestpath(G, 1, size+1); l=length(path);
    for i=1:l-1
        plot3([N(1,path(i)) N(1,path(i+1))], [N(2,path(i)) ... 
        N(2,path(i+1))], [N(3,path(i)) N(3,path(i+1))],'k','linewidth',3);
    end
else
    dist = 0;
end