- comment out clear all;
- run the script
- rename Tp
- run the a second time
How can I multiply one output of this function with another output from this function?
6 vues (au cours des 30 derniers jours)
Afficher commentaires plus anciens
Cadence Motley
le 2 Avr 2019
Modifié(e) : per isakson
le 2 Avr 2019
%Cadence Motley
%Script for DH Table multiplication
%ME422
%4/2/19
clc; clear all; format compact;
%% Inputs
%Indication of sys need: 1-value 0-sym should be a matrix that is nx1
A=0; %for a
D=1; %for d
C=1; %for alpha
O=0; %for theta
%For Value to go in place of a,d,theta or alpha
Av=0; %for a
Dv=0; %for d
Cv=0; %for alpha
Ov=0; %for theta
%% Variable Appropriation for Calculation
% a determination
if A == 1
a= Av;
else
a= sym('a');
end
% d determination
if D == 1
d= Dv;
else
d= sym('d');
end
% o determination - theta
if O == 1
o= Ov;
else
o= sym('o');
end
% c determination - alpha
if C == 1
c= Cv;
else
c= sym('c');
end
%% Homo Trans Calculation
if O==1 && C==1
Tp=[cosd(o),-sind(o)*cosd(c),sind(o)*sind(c),a*cosd(o);sind(o),cosd(o)*cosd(c),-cosd(o)*sind(c),a*sind(o);0,sind(c),cosd(c),d;0,0,0,1];
elseif O==1 && C==0
Tp=[cosd(o),-sind(o)*cos(c),sind(o)*sin(c),a*cosd(o);sind(o),cosd(o)*cos(c),-cosd(o)*sin(c),a*sind(o);0,sin(c),cos(c),d;0,0,0,1];
elseif O==0 && C==1
Tp=[cos(o),-sin(o)*cosd(c),sin(o)*sind(c),a*cos(o);sin(o),cos(o)*cosd(c),-cos(o)*sind(c),a*sin(o);0,sind(c),cosd(c),d;0,0,0,1];
else %O=0 and C=0
Tp=[cos(o),-sin(o)*cos(c),sin(o)*sin(c),a*cos(o);sin(o),cos(o)*cos(c),-cos(o)*sin(c),a*sin(o);0,sin(c),cos(c),d;0,0,0,1];
end
Tp
I need to be able to multiply the Tp matrix I get out of this script with another Tp matrix I get from this script using different or potentially the same input variables. How can I do this?
0 commentaires
Réponse acceptée
per isakson
le 2 Avr 2019
Modifié(e) : per isakson
le 2 Avr 2019
Or convert the script to a function that returns Tp and call the function twice. That's more robust.
0 commentaires
Plus de réponses (0)
Voir également
Catégories
En savoir plus sur Special Values dans Help Center et File Exchange
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!