*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
arrow3draw a 3D arrow (third party code)
bresenhamBresenhan line drawing
Bug2bug navigation
circlecompute/draw points on a circle
CodeGeneratorconstruct a robot specific code generator object
colnormcolumnwise norm of matrix
colornamemap color name to RGB
ctrajCartesian trajectory
delta2trdifferential motion vector to HT
DHFactortransform sequence to DH description
diff2elementwise diff
distancexformcompute distance transform
DstarD* planner
DXformdistance transform from map
e2hEuclidean coordinates to homogeneous
edgelisttrace edge of a shape
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
joy2trUpdate HT based on joystick input
joystickHelp for joystick interface mex file
jsingufind dependent joints
jtrajjoint space trajectory
Linkconstruct a general robot link object
lspb1D trapezoidal trajectory
makemapbuild an occupancy grid
Mappoint feature map object
mdl_3link3dSimple 3DOF arm, no shoulder offset (DH, kine)
mdl_ballhigh DOF chain that forms a ball
mdl_coilhigh DOF chain that forms a coil
mdl_Fanuc10LFanuc 10L (DH, kine)
mdl_hyper2d2D high DOF chain
mdl_hyper3d3D high DOF chain
mdl_irb140ABB IRB140 (DH, kine)
mdl_irb140_mdhABB IRB140 (MDH, kine)
mdl_jacoKinova Jaco arm (DH, kine)
mdl_m16Fanuc M16 (DH, kine)
mdl_micoKinova Mico arm (DH, kine)
mdl_MotomanHP6Motoman HP6 (DH, kine)
mdl_naoAlderabaran NAO arms and legs (DH, kine)
mdl_onelinksimple 1-link example (DH, kine)
mdl_phantomxPhantomX pincher 4DOF hobby arm (DH, kine)
mdl_planar1simple 1 link planar model (DH, kine)
mdl_planar2simple 2 link planar model (DH, kine)
mdl_planar3simple 3 link planar model (DH, kine)
mdl_puma560Puma 560 data (DH, kine, dyn)
mdl_puma560akbPuma 560 data (MDH, kine, dyn)
mdl_quadcoptersimple quadcopter model
mdl_S4ABB2p8ABB S4 2.8 (DH, kine)
mdl_stanfordStanford arm data (DH, kine, dyn)
mdl_stanford_mdhStanford arm data (MDH, kine, dyn)
mdl_twolinksimple 2-link example (DH, kine, dyn)
mdl_twolink_mdhsimple 2-link example (MDH, 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
multidfprintfprintf extension
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
peakfind peak in 1D signal
peak2find peak in 2D signal
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
plot_vehicleplot vehicle
plotbotopt
plotpplot points
plotpPlot trajectories
polydiffderivative of polynomial
Polygongeneral purpose polygon class
Prismaticconstruct a prismatic robot link object
PrismaticMDHconstruct a prismatic robot link object
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
Revoluteconstruct a revolute robot link object
RevoluteMDHconstruct a revolute robot link object
RobotArmConnect SerialLink object to real robot
rot2RM for SE(2) rotation
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
rtbdemoSerial-link manipulator demonstration
runscriptinteractively step through a script
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.ikine_syminverse kinematics (symbolic)
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.plot3dplot/animate robot as solid model
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
tr2rtHT to (R,t)
tranimateanimate a coordinate frame
translset or extract the translational component of HT
transl2set or extract the translational component of SE(2) HT
trchainevaluate a series of transforms
trchainchain of SE(3) transforms
trchain2chain of SE(2) transforms
trinterpinterpolate HT s
tripleanglegraphical interactive three angle rotation
tripleangledemonstrate angle sequences
trnormnormalize HT
trot2SO(2) rotation
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
trprintprint an HT
trscaleHT for scale change
unitunitize a vector
Vehicleconstruct a mobile robot object
vexskew symmetric matrix to vector
VREPVREP interface class
VREP_armMATLAB mirror for VREP robot arm
VREP_cameraMATLAB mirror for VREP camera object
VREP_mirrorMATLAB mirror for VREP object
VREP_objMATLAB mirror for VREP object
walkingexample of 4-legged walking robot
wtranstransform wrench between frames
wtranstransform a force/moment
xaxisset x-axis scaling
xyzlabellabel axes x, y and z
yaxisset y-axis scaling



Copyright © 1990-2011 Peter Corke