Unable to convert expression into double array.

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);

Answer 1

[Radu Trimbitas]

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

[Andrea Gusmara]

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 .