[matlab robotics] #robotics #matlab

plot_2d_polygon.m

hold on
plot(x(1, :), x(2,:))

symbolic.m

% declaration

syms v u
w = 2*v + u

% differentiation

diff(w, v)

% define functions

syms a b c x

f(x) = a*x^2 + b*x + c

% evaluate function

syms r

fr = f(r)

f3 = f(3)

%evaluation sybolic expression
% substitude in expression of w, set v=5
subs(w, v, 5)

% subsititude with another variable
subs(w, v, x)

% get numeric answer

w = v + 1/2

subs(w, v, 4)

vpa(subs(w,v,4))

% generate a symbolic matrix

A = sym('a', [3, 6])


% define a symbolic rotation
syms theta, d
T = [cos(theta) -sin(theta) 0; sin(theta) cos(theta) 0; 0 0 1]