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Why i can't use symbolic values in trvec2tform function from Robotics Toolbox ?

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Othienno Esperanza
Othienno Esperanza on 26 Jul 2020
Edited: Othienno Esperanza on 26 Jul 2020
hello i'm new, and im struggling with this little problem here is the code...i desire to get symbolic equations as output, can you tell me what am I doing wrong? im using Matlab 2018a
syms d O l x y a real
T0f=trvec2tform([d,0,0])*rot2tform(rotz(O))*(trvec2tform([l 0 0]))
T0p=trvec2tform([x y 0])*rot2tform(rotz(a))
here's the output:
% Error using trvec2tform
% Expected t to be one of these types:
% single, double
% Instead its type was sym.
% Error in robotics.internal.validation.validateNumericMatrix (line 21)
% validateattributes(M, {'single','double'}, {'nonempty','real','2d',varargin{:}}, ...
% Error in trvec2tform (line 20)
% robotics.internal.validation.validateNumericMatrix(t, 'trvec2tform', 't', ...


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