How do i create a transformation matrix using function?

clear
function t=dh(a,alpha,d,th)
    t= [cos(th)                     -sin(th)            0                    a;
     sin(th)*cos(alpha)    cos(th)*cos(alpha)   -sin(alpha)   -sin(alpha)*d;
     sin(th)*sin(alpha)    cos(th)*sin(alpha)    cos(alpha)    cos(alpha)*d;
     0                              0                0                    1]
end
dh1=dh(10,0,0,pi/4);

I want to create this transformation function which accepts 4 paramters and gives T matrix as output.Pls help.

Answer 1

[Mahesh Taparia]

Hi

The function definition in a script is defined at the end of the file or in a separate file. So the below code will work:

clear
dh1=dh(10,0,0,pi/4);
function t=dh(a,alpha,d,th)
    t= [cos(th)                     -sin(th)            0                    a;
     sin(th)*cos(alpha)    cos(th)*cos(alpha)   -sin(alpha)   -sin(alpha)*d;
     sin(th)*sin(alpha)    cos(th)*sin(alpha)    cos(alpha)    cos(alpha)*d;
     0                              0                0                    1]
end