Function Return only one value

My Code is as follows:

function [X,Y] = MyEKFFun(theta1,theta2,theta3,r1,r2,r3,t1,t2,t3,T)


S = [100 0 0 0 0 0;
    0 100 0 0 0 0;
    0 0 100 0 0 0;
    0 0 0 100 0 0;
    0 0 0 0 100 0;
    0 0 0 0 0 100];
prev_S = S;
Big_lambda = eye(3);
a=0;
b=0;
c=0;
p=0;
q=0;
s=0;
est_vec=[ a ; b; c; p; q; s];
%theta = [ 31 24 18] ;
%t= [ 1 1.1 1.2 ];
%r= [330 364 379];

theta = [ theta1 theta2 theta3] ;
t= [ t1 t2 t3 ];
r= [r1 r2 r3];

%Wanted = num2cell(M,1)
%[r,b,distance,angle]=deal(Wanted{:})
x = [ r; theta ; t];
%dif_x=zeros(2,3);
dif_a = arrayfun(@(t) [t^2 t 1 0 0 0; 0 0 0 t^2 t 1],t,'UniformOutput',false);

%time=2;
time=T;

dif_x = zeros(2, 3, 3);  % Pre-allocation
w = zeros(2, 1, 3);  % Pre-allocation
%pred_x = zeros(3, 3, 3);
W = zeros(2,2);
y = zeros(2, 1, 3);
K = zeros(6, 2, 3);

for i=1:3
     dif_x(:, :, i) = [-cos(theta(i)), r(i).*sin(theta(i)),  2*a.*t(i)+b;...
                       -sin(theta(i)), -r(i).*cos(theta(i)), 2*p.*t(i)+q];

     W(:,:,i) = dif_x(:,:,i)*Big_lambda(i)*dif_x(:,:,i)';
     
     pred_x = x(:,i)+randn(3,1);
     
     w(:,:,i) = dif_x(:,:,i) * (x(:,i)-pred_x);
     
     y(:,:,i) = dif_a{i} * est_vec + w(:,:,i);
     
     K(:,:,i) = prev_S*dif_a{i}'/((W(:,:,i) + dif_a{i}*prev_S*dif_a{i}'));
     
    
     
     est_vec_new = est_vec +  K(:,:,i)*(y(:,:,i)-dif_a{i}*est_vec);
     
     cond = abs(est_vec_new - est_vec);
     
     if  cond < 0.003
         break 
     end
     
     est_vec = est_vec_new;
     a=est_vec(1,1);
     b=est_vec(2,1);
     c=est_vec(3,1);
     p=est_vec(4,1);
     q=est_vec(5,1);
     s=est_vec(6,1);
     
     S_new = (eye(6) - (K(:,:,i)*dif_a{i}))*prev_S;
          
   
     prev_S = S_new;
     
     %X(i) = a*time.^2+b*time+c; % To calculate x co-ordinate for t>=3
     %Y(i) = p*time.^2+q*time+s; % To calculate y co-ordinate for t>=3
     
     %figure,plot(t,meas_equa1)
     %new_t=[t,time];
%figure,plot(r_cosTheta,r_sineTheta)
end
X = a*time.^2+b*time+c; % To calculate x co-ordinate for t>=3
Y = p*time.^2+q*time+s;
end

Now my question is why it returns only one values as 'ans'.It should be two values which is calculated as 'X,Y' from the updated values of the for loop.But the function always returns one value titled answer, like as follows:

>> MyEKFFun(31,24,18,330,364,379,1,1.1,1.3,2)

ans =

  384.4037

Please help anyone.

Thanks in advance.

Answer 1

[James Tursa]

Call it with two requested outputs:

[X,Y] = MyEKFFun(31,24,18,330,364,379,1,1.1,1.3,2)

Since you were calling it with no requested outputs, MATLAB simply put the first one in ans and threw away the second one.

[Tipu Sultan]

Ok thanks.

Can you tell me my code is correct or my implementation is correct or not!

My algorithm is as follows:

https://in.mathworks.com/matlabcentral/answers/461769-i-want-to-implement-an-algorithm

Answer 2

[Jon Wieser]

when you call the function, you need to specify two outputs,

for example:

[X,Y] =MyEKFFun(31,24,18,330,364,379,1,1.1,1.3,2)

[Tipu Sultan]

Thanks!