Issue with non symbolic MX matrices, inverse kinematics #3691
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KarolineGrotterud
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Hi,
I am trying to do inverse kinematics in casadi, but I have the issue that my MX matrices are not symbolic even though they consist of only symbolic parameters. Initializing a matrix as MX(lists) doesn't work, so I make all my matrices by writing
matrix = ca.MX.eye(4) and then swopping all the rows with a vertcat() like this:
I have also tried this:
Still I get Rx.is_symbolic() = False.
I want to calculate the manipulability index of my robot like this
and I therefore need the output of my inverse kinematics function to be purely symbolic to use ca.jacobian().
How can I define my matrix expressions purely symbolic?
I have struggled with this for days, any help is much appreciated!
Here is a code snippet of my work.
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