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SerialLink.double and Link.double #58

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SerialLink.double and Link.double #58

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24 changes: 23 additions & 1 deletion @SerialLink/SerialLink.m
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Original file line number Diff line number Diff line change
Expand Up @@ -901,7 +901,29 @@ function dyn(r, j)
sr.links(i) = r.links(i).sym;
end
end


function dr = double(r)
% SerialLink.double converts SerialLink object parameters to numeric (double) type
%
% dr = r.double is a SerialLink object in which all the parameters are
% numeric ('double') type.
%
% Useful when you are using Pi=sym('pi') to avoid round off errors
% e.g in sin(Pi/2)), but later you want to pass the SerialLink object to
% a method (e.g. ikine) which only supports real numbers.
%
% Will give an error if a symbolic variable is not convertable to
% double number.
%
% See also Link.double
%
% Author: Amin Yahyaabadi ([email protected])

dr = SerialLink(r);
for i=1:r.n
dr.links(i) = r.links(i).double;
end
end

function p = isprismatic(robot)
%SerialLink.isprismatic identify prismatic joints
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42 changes: 42 additions & 0 deletions Link.m
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Expand Up @@ -991,6 +991,48 @@ function dyn(links)
l.B = sym(l.B);
l.Tc = sym(l.Tc);
end

function l = double(l)
%Link.double converts link parameters to numeric (double) type
%
% dl = l.double is a Link object in which all the parameters are
% numeric ('double') type.
%
% Useful when you are using Pi=sym('pi') to avoid round off errors
% (e.g in sin(Pi/2)), but later you want to pass the link object to
% a method (e.g. ikine) which only supports real numbers.
%
% Will give an error if a symbolic variable is not convertable to
% double number.
%
% See also SerialLink.double
%
% Author: Amin Yahyaabadi ([email protected])

if l.issym % we can disable the check, we should compare the speed.

if ~isempty(l.theta) % && isa(l.d,'sym') % we can check for sym class individually, speed should be compared.
l.d=double(l.d);
end

if ~isempty(l.theta)
l.theta=double(l.theta);
end

l.alpha=double(l.alpha);
l.a=double(l.a);
l.offset=double(l.offset);

l.offset=double(l.I);
l.offset=double(l.r);
l.offset=double(l.m);

l.Jm = double(l.Jm);
l.G = double(l.G);
l.B = double(l.B);
l.Tc = double(l.Tc);
end
end


end % methods
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