Reimplement rotx roty and rotz in order to be compatible with symbolic variables

robotology / whole-body-controllers

Simulink-based whole body controllers for humanoid robots.

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Closed GiulioRomualdi closed 2 years ago

GiulioRomualdi commented 2 years ago

Thanks to this PR it is now possible to use wbc.rot<x,y,z>() with a Matlab symbolic variable as

syms theta
A = wbc.rotz(theta)

A =

[cos(theta), -sin(theta), 0]
[sin(theta),  cos(theta), 0]
[         0,           0, 1]

cc @gabrielenava

gabrielenava commented 2 years ago

LGTM, thanks @GiulioRomualdi! merging