MATLAB: Boundary Value Problem error bvp4c

Question

I am trying to solve a differential equation using the bvp4c function (using boundary value conditions) but i always get the error "In an assignment A(:) = B, the number of elements in A and B must be the same. " i dont know why this error happens ?

init = bvpinit(linspace(0,2,10),[0 0 0]);
sol = bvp4c(@Kpath1,@bcpath,init);
t = linspace(0,2,100);
BS = deval(sol,t);
plot(t,BS(1,:))
function bv = bcpath(L,R)
bv = [L(1)   L(2)  L(3)-1.2; R(1)-2 R(2)-2 R(3)-1.2];
end
function dt = Kpath1(~,c)
        L = 0.12;                        
        r = 0.1;
        WL = 0.25;WR = 0.25;
          x = c(1);y = c(2);th = c(3);
          dx = (((r*WL)+(r*WR))/2) * cos(th);
          dy = (((r*WL)+(r*WR))/2) * sin(th);
          dth= ((r*WR)-(r*WL))/L;
          dt = [dx;dy;dth];
          pose = [x y th];
  end

Thanks in advance

Answer 1

You need to return a 3x1 vector instead of a 2x3 matrix in "bcpath".

Best wishes

Torsten.