Rounding symbolic 4x4 matrix

Is there a way to round up the solution of T_06 to the nearest integer?

H=[0 0 1 -320;
    0 -1 0 30;
    1 0 0 -320;
    0 0 0 1;]

t1 = 0; d1 = th1_; a1 = 0; alpha1 = 0;
t2 = th2_+pi; d2 = 0; a2 = L_; alpha2 = 0; 
t3 = th3_-pi/2;d3 = 0; a3 = L_; alpha3= -pi/2;
t31 = 0; d31 =L_; a31 = 0; alpha31 = 0;
t4 = 0;d4 = L+th4_;a4 =-L_; alpha4 = pi;
t5 = th5_+pi;d5 = 0;a5 = L_; alpha5 = pi/2;
t51 = pi/2; d51= L_; a51 = 0; alpha51 = pi/2;
t52 = 0; d52 = L_; a52 =0; alpha52 = 0;
t6 = th6_;d6 = L_;a6 = 0; alpha6 = 0;

    A_1_ = inTransMat(a_1,alpha_1,d_1,t_1);
    A0_ = inTransMat(a0,alpha0,d0,t0);
    %setting frame 0 as shown
    A1 = inTransMat(a1,alpha1,d1,t1);
    A2_ = inTransMat(a2,alpha2,d2,t2);
    A3_ = inTransMat(a3,alpha3,d3,t3);
    A31_= inTransMat (a31,alpha31,d31,t31);
    A4_ = inTransMat(a4,alpha4,d4,t4);
    A5_= inTransMat(a5,alpha5,d5,t5);
    A51_= inTransMat (a51,alpha51,d51,t51);
    A52_= inTransMat (a52,alpha52,d52,t52);
    A6_= inTransMat(a6,alpha6,d6,t6);
    T_ = A_1*A0*A1*A2_*A3_*A31*A4_*A5_*A51_*A52_*A6
    T01_ = A_1*A0*A1;
    T02_ = A_1*A0*A1*A2_;
    T03_ = A_1*A0*A1*A2_*A3_*A31;
    T04_ = A_1*A0*A1*A2_*A3_*A31*A4_;
    T05_ = A_1*A0*A1*A2_*A3_*A4_*A5*A51_*A52_;
    T_06= vpa(T_,2)
    T_0611=simplify(vpa(T_06(1,1),2));
    T_0612=simplify(vpa(T_06(1,2),2));
    T_0613=simplify(vpa(T_06(1,3),2));
    T_0614=simplify(vpa(T_06(1,4),2));
    T_0621=simplify(vpa(T_06(2,1),2));
    T_0622=simplify(vpa(T_06(2,2),2));
    T_0623=simplify(vpa(T_06(2,3),2));
    T_0624=simplify(vpa(T_06(2,4),2));
    T_0631=simplify(vpa(T_06(3,1),2));
    T_0632=simplify(vpa(T_06(3,2),2));
    T_0633=simplify(vpa(T_06(3,3),2));
    T_0634=simplify(vpa(T_06(3,4),2));
    
    
    %alegrabi approach
    eqn1= T_0611==H(1,1);
    eqn2= T_0612==H(1,2);
    eqn3= T_0613==H(1,3);
    eqn4= T_0614==H(1,4);
    eqn5= T_0621==H(2,1);
    eqn6= T_0622==H(2,2);
    eqn7=  T_0623==H(2,3);
    eqn8=  T_0624 ==H(2,4);
    eqn9=  T_0631==H(3,2);
    eqn10=  T_0632==H(3,2);
    eqn11=  T_0633==H(3,3);
    eqn12=  T_0634==H(3,4);
    %sol = solve([eqn1, eqn2, eqn3,eqn4,eqn5,eqn6,eqn7,eqn8,eqn9,eqn10,eqn11,eqn12], [th1_, th2_, th3_, th4_,th5_,th6_]);
    %th1sol= sol.th1_
    %th2sol= sol.th2_
    %th3sol= sol.th3_
    %th4sol= sol.th4_
    %th5sol= sol.th5_
    %th6sol= sol.th6_
   
   

function IT = inTransMat(a,b,c,d)
IT = [cos(d) -sin(d)*cos(b) sin(d)*sin(b) a*cos(d); sin(d) cos(d)*cos(b) -cos(d)*sin(b) a*sin(d); 0 sin(b) cos(b) c; 0 0 0 1];
end

function T = TransMat(a,b,c,d)
T = [cos(d) -sin(d)*cos(b) sin(d)*sin(b) a*cos(d); sin(d) cos(d)*cos(b) -cos(d)*sin(b) a*sin(d); 0 sin(b) cos(b) c; 0 0 0 1];
end

Answer 1

[madhan ravi]

ceil(double(T_06))
doc floor % and some of its relatives

[Tony Yu]

I am getting an "Unable to convert expression into double array." error?

[madhan ravi]

If there's any symbolic variable in T_06 you cannot do that.

[Tony Yu]

I see... I want to it with symbolic variables, but thanks

[madhan ravi]

The only way is to convert them to fractions:

sym(T_06, 'r')