*multiply quaternion by a quaternion or vector
*compound two robots
/divide quaternion by quaternion or scalar
aboutsummary of object size and type
angdiffsubtract 2 angles modulo 2pi
angvec2rangle/vector to RM
angvec2trangle/vector to HT
Bug2bug navigation
circlecompute/draw points on a circle
colnormcolumnwise norm of matrix
ctrajCartesian trajectory
delta2trdifferential motion vector to HT
DHFactorconvert elementary transformations to DH form
DHFactortransform sequence to DH description
diff2elementwise diff
DstarD* planner
DXformdistance transform from map
e2hEuclidean coordinates to homogeneous
eg_gravjoint 2 gravity load g(q2,q3)
eg_inertiajoint 1 inertia I(q1,q2)
eg_inertia22joint 2 inertia I(q3)
EKFextended Kalman filter object
eul2jacEuler angles to Jacobian
eul2rEuler angles to RM
eul2trEuler angles to HT
gauss2dGaussian distribution in 2D
h2ehomogeneous coordinates to Euclidean
homlinecreate line from 2 points
homtranstransform points
ishomogtrue if argument is a 4x4 matrix
ismatrixtrue if non scalar
isrottrue if argument is a 3x3 matrix
isvectrue if argument is a 3-vector
jtrajjoint space trajectory
Linkconstruct a robot link object
lspb1D trapezoidal trajectory
Mappoint feature map object
mdl_Fanuc10LFanuc 10L (DH, kine)
mdl_MotomanHP6Motoman HP6 (DH, kine)
mdl_puma560Puma 560 data (DH, kine, dyn)
mdl_puma560akbPuma 560 data (MDH, kine, dyn)
mdl_robotconstruct a robot object
mdl_S4ABB2p8ABB S4 2.8 (DH, kine)
mdl_stanfordStanford arm data (DH, kine, dyn)
mdl_twolinksimple 2-link example (DH, kine)
movelinenon-holonomic vehicle moving to a line
movepointnon-holonomic vehicle moving to a point
moveposenon-holonomic vehicle moving to a pose
mstrajmulti-axis multi-segment trajectory
mtrajmulti-axis trajectory for arbitrary function
NavigationNavigation superclass
numcolsnumber of columns in matrix
numrowsnumber of rows in matrix
oa2rorientation and approach vector to RM
oa2trorientation and approach vector to HT
ParticleFilterMonte Carlo estimator
Pgraphgeneral purpose graph class
plot2plot trajectory
plot2Plot trajectories
plot_arrowdraw an arrow
plot_boxdraw a box
plot_circledraw a circle
plot_ellipsedraw an ellipse
plot_homlineplot homogeneous line
plot_pointplot points
plot_polyplot polygon
plot_spheredraw a sphere
plotbotopt
plotpplot points
plotpPlot trajectories
Polygongeneral purpose polygon class
PRMprobabilistic roadmap planner
qplotplot joint angle trajectories
Quaternionconstructor
Quaternion.interpinterpolate a quaternion
Quaternion.invinvert a quaternion
Quaternion.normnorm of a quaternion
Quaternion.plotdisplay a quaternion as a 3D rotation
Quaternion.unitunitize a quaternion
r2tRM to HT
rampcreate linear ramp
randinitinitialize random number generator
RandomPathdriver for Vehicle object
RangeBearingSensor"laser scanner" object
rotxRM for rotation about X-axis
rotyRM for rotation about Y-axis
rotzRM for rotation about Z-axis
rpy2jacRPY angles to Jacobian
rpy2rroll/pitch/yaw angles to RM
rpy2trroll/pitch/yaw angles to HT
RRTrapidly exploring random tree
rt2tr(R,t) to HT
rtdemoSerial-link manipulator demonstration
se2HT in SE(2)
Sensorrobot sensor superclass
SerialLinkconstruct a serial-link robot object
SerialLink.accelforward dynamics
SerialLink.cinertiaCartesian manipulator inertia matrix
SerialLink.corioliscentripetal/coriolis torque
SerialLink.fdynforward dynamics
SerialLink.fkineforward kinematics
SerialLink.frictionreturn joint friction torques
SerialLink.gravloadgravity loading
SerialLink.ikineinverse kinematics (numeric)
SerialLink.ikine6sinverse kinematics for 6-axis arm with sph.wrist
SerialLink.inertiamanipulator inertia matrix
SerialLink.itorqueinertia torque
SerialLink.jacob0Jacobian in base coordinate frame
SerialLink.jacobnJacobian in end-effector coordinate frame
SerialLink.manipltycompute manipulability
SerialLink.nofrictionreturn a robot object with no friction
SerialLink.perturbreturn a robot object with perturbed parameters
SerialLink.plotplot/animate robot
SerialLink.rneinverse dynamics
SerialLink.teachdrive a graphical robot
skewvector to skew symmetric matrix
sl_bicycleSimulink "bicycle model" of non-holonomic wheeled vehicle
sl_braitenbergSimulink model a Braitenberg vehicle
sl_quadcopterSimulink model of a flying quadcopter
t2rHT to RM
tb_optparsetoolbox argument parser
tpoly1D polynomial trajectory
tr2angvecHT/RM to angle/vector form
tr2deltaHT to differential motion vector
tr2eulHT/RM to Euler angles
tr2jacHT to Jacobian
tr2rpyHT/RM to roll/pitch/yaw angles
tranimateanimate a coordinate frame
translset or extract the translational component of HT
trinterpinterpolate HT s
trnormnormalize HT
trotxHT for rotation about X-axis
trotyHT for rotation about Y-axis
trotzHT for rotation about Z-axis
trplotplot HT as a coordinate frame
trplot2plot HT, SE(2), as a coordinate frame
unitunitize a vector
Vehicleconstruct a mobile robot object
vexskew symmetric matrix to vector
walkingexample of 4-legged walking robot
wtranstransform wrench between frames
wtranstransform a force/moment



Copyright © 1990-2011 Peter Corke