From 6da8146b95cac4887e7dc46ee650b426ba1c7398 Mon Sep 17 00:00:00 2001 From: Thomas Barbier Date: Tue, 8 Dec 2020 14:26:56 +0000 Subject: [PATCH] Allow symbolic use with trexp.m Checking the norm(w) < 10*eps on line 108 throws back an error when used with symbolic variables. Add a check not to perform this numerical verification if used with symbolical variables. --- trexp.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/trexp.m b/trexp.m index f0bb504..0c4fae6 100644 --- a/trexp.m +++ b/trexp.m @@ -105,7 +105,7 @@ end % for a zero so(3) return unit matrix, theta not relevant - if norm(w) < 10*eps + if ~isa(w, 'sym') && norm(w) < 10*eps T = eye(3,3); return; end