Do a deep copy so as not to mess with the passed in robot object

petercorke · petercorke · commit f4367e9ea547 · 2019-04-28T17:58:12.000+10:00
diff --git a/@SerialLink/ikine_sym.m b/@SerialLink/ikine_sym.m
@@ -66,7 +66,7 @@
 %
 % http://www.petercorke.com
 
-function out = ikine_sym(srobot, N, varargin)
+function out = ikine_sym(robot, N, varargin)
     
     %
     % Given a robot model the following steps are performed:
@@ -85,7 +85,8 @@
     opt = tb_optparse(opt, varargin);
     
     % make a symbolic representation of the passed robot
-    srobot = sym(srobot);
+    srobot = SerialLink(robot);  % make a deep copy
+    srobot = sym(srobot);  % convert to symbolic
     q = srobot.gencoords();
 
     % test N DOF has an allowable value

Original file line number	Diff line number	Diff line change
`@@ -66,7 +66,7 @@`
`66`	`66`	`%`
`67`	`67`	`% http://www.petercorke.com`
`68`	`68`
`69`		`-function out = ikine_sym(srobot, N, varargin)`
	`69`	`+function out = ikine_sym(robot, N, varargin)`
`70`	`70`
`71`	`71`	`%`
`72`	`72`	`% Given a robot model the following steps are performed:`
`@@ -85,7 +85,8 @@`
`85`	`85`	`opt = tb_optparse(opt, varargin);`
`86`	`86`
`87`	`87`	`% make a symbolic representation of the passed robot`
`88`		`- srobot = sym(srobot);`
	`88`	`+ srobot = SerialLink(robot); % make a deep copy`
	`89`	`+ srobot = sym(srobot); % convert to symbolic`
`89`	`90`	`q = srobot.gencoords();`
`90`	`91`
`91`	`92`	`% test N DOF has an allowable value`