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Rounding symbolic 4x4 matrix

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Tony Yu
Tony Yu on 6 Jul 2020
Commented: madhan ravi on 6 Jul 2020
Is there a way to round up the solution of T_06 to the nearest integer?
H=[0 0 1 -320;
0 -1 0 30;
1 0 0 -320;
0 0 0 1;]
t1 = 0; d1 = th1_; a1 = 0; alpha1 = 0;
t2 = th2_+pi; d2 = 0; a2 = L_; alpha2 = 0;
t3 = th3_-pi/2;d3 = 0; a3 = L_; alpha3= -pi/2;
t31 = 0; d31 =L_; a31 = 0; alpha31 = 0;
t4 = 0;d4 = L+th4_;a4 =-L_; alpha4 = pi;
t5 = th5_+pi;d5 = 0;a5 = L_; alpha5 = pi/2;
t51 = pi/2; d51= L_; a51 = 0; alpha51 = pi/2;
t52 = 0; d52 = L_; a52 =0; alpha52 = 0;
t6 = th6_;d6 = L_;a6 = 0; alpha6 = 0;
A_1_ = inTransMat(a_1,alpha_1,d_1,t_1);
A0_ = inTransMat(a0,alpha0,d0,t0);
%setting frame 0 as shown
A1 = inTransMat(a1,alpha1,d1,t1);
A2_ = inTransMat(a2,alpha2,d2,t2);
A3_ = inTransMat(a3,alpha3,d3,t3);
A31_= inTransMat (a31,alpha31,d31,t31);
A4_ = inTransMat(a4,alpha4,d4,t4);
A5_= inTransMat(a5,alpha5,d5,t5);
A51_= inTransMat (a51,alpha51,d51,t51);
A52_= inTransMat (a52,alpha52,d52,t52);
A6_= inTransMat(a6,alpha6,d6,t6);
T_ = A_1*A0*A1*A2_*A3_*A31*A4_*A5_*A51_*A52_*A6
T01_ = A_1*A0*A1;
T02_ = A_1*A0*A1*A2_;
T03_ = A_1*A0*A1*A2_*A3_*A31;
T04_ = A_1*A0*A1*A2_*A3_*A31*A4_;
T05_ = A_1*A0*A1*A2_*A3_*A4_*A5*A51_*A52_;
T_06= vpa(T_,2)
T_0611=simplify(vpa(T_06(1,1),2));
T_0612=simplify(vpa(T_06(1,2),2));
T_0613=simplify(vpa(T_06(1,3),2));
T_0614=simplify(vpa(T_06(1,4),2));
T_0621=simplify(vpa(T_06(2,1),2));
T_0622=simplify(vpa(T_06(2,2),2));
T_0623=simplify(vpa(T_06(2,3),2));
T_0624=simplify(vpa(T_06(2,4),2));
T_0631=simplify(vpa(T_06(3,1),2));
T_0632=simplify(vpa(T_06(3,2),2));
T_0633=simplify(vpa(T_06(3,3),2));
T_0634=simplify(vpa(T_06(3,4),2));
%alegrabi approach
eqn1= T_0611==H(1,1);
eqn2= T_0612==H(1,2);
eqn3= T_0613==H(1,3);
eqn4= T_0614==H(1,4);
eqn5= T_0621==H(2,1);
eqn6= T_0622==H(2,2);
eqn7= T_0623==H(2,3);
eqn8= T_0624 ==H(2,4);
eqn9= T_0631==H(3,2);
eqn10= T_0632==H(3,2);
eqn11= T_0633==H(3,3);
eqn12= T_0634==H(3,4);
%sol = solve([eqn1, eqn2, eqn3,eqn4,eqn5,eqn6,eqn7,eqn8,eqn9,eqn10,eqn11,eqn12], [th1_, th2_, th3_, th4_,th5_,th6_]);
%th1sol= sol.th1_
%th2sol= sol.th2_
%th3sol= sol.th3_
%th4sol= sol.th4_
%th5sol= sol.th5_
%th6sol= sol.th6_
function IT = inTransMat(a,b,c,d)
IT = [cos(d) -sin(d)*cos(b) sin(d)*sin(b) a*cos(d); sin(d) cos(d)*cos(b) -cos(d)*sin(b) a*sin(d); 0 sin(b) cos(b) c; 0 0 0 1];
end
function T = TransMat(a,b,c,d)
T = [cos(d) -sin(d)*cos(b) sin(d)*sin(b) a*cos(d); sin(d) cos(d)*cos(b) -cos(d)*sin(b) a*sin(d); 0 sin(b) cos(b) c; 0 0 0 1];
end

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Accepted Answer

madhan ravi
madhan ravi on 6 Jul 2020
ceil(double(T_06))
doc floor % and some of its relatives

  4 Comments

Show 1 older comment
madhan ravi
madhan ravi on 6 Jul 2020
If there's any symbolic variable in T_06 you cannot do that.
Tony Yu
Tony Yu on 6 Jul 2020
I see... I want to it with symbolic variables, but thanks
madhan ravi
madhan ravi on 6 Jul 2020
The only way is to convert them to fractions:
sym(T_06, 'r')

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