How to store a matrix output of a loop?

Question

azarang asadi 2020-2-1

0
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/503194-how-to-store-a-matrix-output-of-a-loop

评论： azarang asadi 2020-2-2

采纳的回答： Walter Roberson

在 MATLAB Online 中打开

Here's my code:

(tryna get the transformation matrices of each link of a robot and save them)

     g=zeroes(4); %initial global frame
     for j=1:7 
    theta=q(j);
    alpha=al(j);
    LinkLength=a(j);
    LinkOffset=d(j);
    g(j,:) = [cos(theta),-sin(theta)*cos(alpha),sin(theta)*sin(alpha),LinkLength*cos(theta);
        sin(theta),cos(theta)*cos(alpha),-cos(theta)*sin(alpha),LinkLength*sin(theta);
        0,sin(alpha),cos(alpha),LinkOffset;
        0,0,0,1];
end

I need to have 7 matrices corresponding to the transformation of each link like g(1),g(2), ....

0 个评论
显示 -2更早的评论隐藏 -2更早的评论

请先登录，再进行评论。

请先登录，再回答此问题。

Answer 1

Walter Roberson 2020-2-1

0
链接

此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/503194-how-to-store-a-matrix-output-of-a-loop#answer_413296

编辑：Walter Roberson 2020-2-1

在 MATLAB Online 中打开

     g=zeroes(4, 4, 7); %initial global frame
     for j=1:7 
        theta=q(j);
        alpha=al(j);
        LinkLength=a(j);
        LinkOffset=d(j);
        g(:, :, j) = [cos(theta),-sin(theta)*cos(alpha),sin(theta)*sin(alpha),LinkLength*cos(theta);
            sin(theta),cos(theta)*cos(alpha),-cos(theta)*sin(alpha),LinkLength*sin(theta);
            0,sin(alpha),cos(alpha),LinkOffset;
            0,0,0,1];
    end

Now g(:,:,k) will be the k'th matrix.

If you prefer,

     g = cell(7, 1); %initial global frame
     for j=1:7 
        theta=q(j);
        alpha=al(j);
        LinkLength=a(j);
        LinkOffset=d(j);
        g{j} = [cos(theta),-sin(theta)*cos(alpha),sin(theta)*sin(alpha),LinkLength*cos(theta);
            sin(theta),cos(theta)*cos(alpha),-cos(theta)*sin(alpha),LinkLength*sin(theta);
            0,sin(alpha),cos(alpha),LinkOffset;
            0,0,0,1];
    end