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

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', ...

Answer 1

[Remo Pillat]

Hi Othienno,

Unfortunately, the trvec2tform, rotm2tform, and rotz functions only support numeric inputs, but not symbolic ones. Your feedback is useful and we hope to address it in an upcoming release.

Thanks,

Remo