You are an expert in writing code in many different languages. Your goal is to perform code completion for the following code, keeping in mind the rest of the code and the file meta data.
    Metadata details:
    filename: bearing_only_rendezvous_using_average_bearing.m
    path of file: ./repos/robotarium-rendezvous-RSSDOA/algorithms
    
    the code of the file until where you have to start completion: function [dxi,stop_condition,energy] = bearing_only_rendezvous_using_average_bearing(L,xi)
% This function implements a Bearings-only controller using 
% the average of all bearing measurements as the control inputs
% Author of this code: Ramviyas Parasuraman. ramviyas@purdue.edu

global N desired_distance error_bearing;

dxi = zeros(2, N);
stop_condition = 1;
vmax = 2;
energy = 0; % Lyapunov candidate function

for i = 1:N
    neighbors = topological_neighbors(L, i);

    
function [dxi,stop_condition,energy] = bearing_only_rendezvous_using_average_bearing(L,xi)
% This function implements a Bearings-only controller using 
% the average of all bearing measurements as the control inputs
% Author of this code: Ramviyas Parasuraman. ramviyas@purdue.edu

global N desired_distance error_bearing;

dxi = zeros(2, N);
stop_condition = 1;
vmax = 2;
energy = 0; % Lyapunov candidate function

for i = 1:N
    neighbors = topological_neighbors(L, i);
    alpha_ij = zeros(1,length(neighbors)); 
    k =1;
    % Iterate through agent i's neighbors
    for j = neighbors
        alpha_ij = atan2(xi(2,j)-xi(2,i),xi(1,j)-xi(1,i)) + error_bearing*randn; % adding noise to the bearing measurements
        k=k+1;

        p_ij = norm(xi(1:2, i) - xi(1:2, j)) ;
        energy = energy + p_ij;
        if (p_ij > desired_distance)
            stop_condition = 0;
        end