Unable to convert expression into double array.

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syms fi ;
syms theta;
syms psi;
rM=[cos(fi)*cos(theta)*cos(psi)-sin(fi)*sin(psi) -cos(fi)*cos(theta)*sin(psi)-sin(fi)*cos(psi) cos(fi)*sin(theta) ;
sin(fi)*cos(theta)*cos(psi)+cos(fi)*sin(psi) -sin(fi)*cos(theta)*sin(psi)+cos(fi)*cos(psi) sin(fi)*sin(theta);
-sin(theta)*cos(psi) sin(theta)*cos(psi) cos(theta)];
transition=[x y z]';
zeros=sym(zeros(1,3));
one=sym(ones(1));
hM=[rM transition ;
zeros one];
hM=double(hM);

Accepted Answer

Radu Trimbitas
Radu Trimbitas on 25 Apr 2020
It is not clear what do you want. Your expressions are entirely symbolic. If you want to give later values to x,y,z, phi, etc try to convert hM to a MATLAB function with matlabFunction, eg
hMf=matlabFunction(hM);
and when you supply values for your symbolic variables you will obtain a double array
  1 Comment
Andrea Gusmara
Andrea Gusmara on 25 Apr 2020
Yes I want to obtain a double expression from my symbolic hM. I have just tried to apply your advice and my program works correctly . I want to ask you another question , is it the only possible solution for update my simbolic expressions?. thanks for your help .

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