petercorke
commented
5 years ago the algorithm contains logic not just algebra so can’t be expressed symbolically.
why do you need to use an analytic Jacobian, RPY angles is a poor representation and subject to singularity.
peter
On 11 Jun 2019, at 7:54 am, santdiego notifications@github.com wrote:
I can not generate the Jacobian matrix of a robot with rpy representation with CodeGenerator I tried to modify line 59 of "genjacobian.m" to use rpy: J0 = CGen.rob.jacob0 (q, 'rpy'); But I get the following error when generating the Jacobian:
Conversion to logical from sym is not possible. Error in tr2rpy (line 110) if abs(abs(R(3,1)) - 1) < eps % when |R31| == 1
Error in SO3/tr2rpy (line 278) rpy = tr2rpy(obj.R, varargin{:});
Error in SerialLink/jacob0 (line 84) rpy = tr2rpy(Tn);
Error in CodeGenerator/genjacobian (line 59) J0 = CGen.rob.jacob0(q,'rpy');
It seems that the underlying problem is that the tr2rpy() function does not work with symbolic expressions, for example :
syms r p y T=rpy2tr(r,p,y) rpy=tr2rpy(T) Conversion to logical from sym is not possible.
Error in tr2rpy (line 110) if abs(abs(R(3,1)) - 1) < eps % when |R31| == 1
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I can not generate the Jacobian matrix of a robot with rpy representation with CodeGenerator I tried to modify line 59 of "genjacobian.m" to use rpy:
J0 = CGen.rob.jacob0 (q, 'rpy');But I get the following error when generating the Jacobian:It seems that the underlying problem is that the tr2rpy() function does not work with symbolic expressions, for example :