Problems with Matix Manipulation

I copied this routine, so I'm not that familiar with it. It appers to have some errors built in. Matlab is giving me the following errors:

Error using vertcat

Dimensions of arrays being concatenated are not consistent.

Error in EqnsOfMotionbackup>translate (line 322)

XYZ = XYZ + repmat([pn;pe;pd],1,size(XYZ,2));

Error in EqnsOfMotionbackup>drawPlaneBody (line 241)

NED = translate(NED, pn, pe, pd);

Error in EqnsOfMotionbackup (line 209)

handle = drawPlaneBody(pn,pe,pd,phi,theta,psi,handle);

Can anyone help me to identify the specific errors?

Code is attached.

Answer 1

[Voss]

If you execute

dbstop if error

on the command line and then run the script, the debugger will stop on line 322, which is

XYZ = XYZ + repmat([pn;pe;pd],1,size(XYZ,2));

If at that point you execute

whos

on the command line, you'll see this:

K>> whos

Name Size Bytes Class Attributes

XYZ 3x39 936 double

pd 1x101 808 double

pe 1x101 808 double

pn 1x1 8 double

which tells you that pn, pe, and pd cannot be vertically concatenated, i.e., this part

[pn;pe;pd]

is not going to work, since they don't have the same number of columns. That's the reason for the specific error.