error in initDecentrState.m line 61

[roaddy]

Matlab report an error when running initDecentrState.m in line 61:

T_O_W(1:3,1:3)*full_state{I}.p_W_lm'+T_O_W(1:3,4);

I think the problem maybe caused by mismatch of matrix dimension to plus, so I replace

T_O_W(1:3,4) with iron(ones(1,size(full_state{I}.p_W_lm,1),1),T_O_W(1:3,4)).

It can pass, but I wonder is this correct?

[tcies]

yes, this is due to versions of matlab older than 2016b not supporting broadcasting:
https://blogs.mathworks.com/loren/2016/10/24/matlab-arithmetic-expands-in-r2016b/

I think the vanilla way to fix this is with bsxfun.

Sorry, and sorry for the late reply. If you have this fixed, a pull request would be appreciated!