Jacobian calculation of symbolic variables which are function of time.
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Sourabh Karmakar
il 24 Mar 2021
Risposto: Pratyush Roy
il 30 Mar 2021
I am trying to find the jacobian for a transformation matrix. I am using symbolic theta as function of time:
syms the1(t) the3(t) L1(t);
R01 = [cos(the1) sin(the1) 0;-sin(the1) cos(the1) 0;0 0 1];
P01 = [0;L1*sin(the1); L1*cos(the1)];
T01 = [R01 P01;0 0 0 1];
dd = [the1,the3];
jaco = jacobian(T01,dd);
But it is failing with error "First argument must be scalar or vector.".
How can it be implemented?
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Pratyush Roy
il 30 Mar 2021
Hi Sourabh,
In this case the1 and the3 are symbolic functions rather than symbolic variables. There is no direct way to calculate jacobian in such cases.
Hope this helps!
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