* | multiply quaternion by a quaternion or vector
* | compound two robots
/ | divide quaternion by quaternion or scalar
about | summary of object size and type
angdiff | subtract 2 angles modulo 2pi
angvec2r | angle/vector to RM
angvec2tr | angle/vector to HT
arrow3 | draw a 3D arrow (third party code)
bresenham | Bresenhan line drawing
Bug2 | bug navigation
circle | compute/draw points on a circle
CodeGenerator | construct a robot specific code generator object
colnorm | columnwise norm of matrix
colorname | map color name to RGB
ctraj | Cartesian trajectory
delta2tr | differential motion vector to HT
DHFactor | transform sequence to DH description
diff2 | elementwise diff
distancexform | compute distance transform
Dstar | D* planner
DXform | distance transform from map
e2h | Euclidean coordinates to homogeneous
edgelist | trace edge of a shape
eg_grav | joint 2 gravity load g(q2,q3)
eg_inertia | joint 1 inertia I(q1,q2)
eg_inertia22 | joint 2 inertia I(q3)
EKF | extended Kalman filter object
eul2jac | Euler angles to Jacobian
eul2r | Euler angles to RM
eul2tr | Euler angles to HT
gauss2d | Gaussian distribution in 2D
h2e | homogeneous coordinates to Euclidean
homline | create line from 2 points
homtrans | transform points
ishomog | true if argument is a 4x4 matrix
ismatrix | true if non scalar
isrot | true if argument is a 3x3 matrix
isvec | true if argument is a 3-vector
joy2tr | Update HT based on joystick input
joystick | Help for joystick interface mex file
jsingu | find dependent joints
jtraj | joint space trajectory
Link | construct a general robot link object
lspb | 1D trapezoidal trajectory
makemap | build an occupancy grid
Map | point feature map object
mdl_3link3d | Simple 3DOF arm, no shoulder offset (DH, kine)
mdl_ball | high DOF chain that forms a ball
mdl_coil | high DOF chain that forms a coil
mdl_Fanuc10L | Fanuc 10L (DH, kine)
mdl_hyper2d | 2D high DOF chain
mdl_hyper3d | 3D high DOF chain
mdl_irb140 | ABB IRB140 (DH, kine)
mdl_irb140_mdh | ABB IRB140 (MDH, kine)
mdl_jaco | Kinova Jaco arm (DH, kine)
mdl_m16 | Fanuc M16 (DH, kine)
mdl_mico | Kinova Mico arm (DH, kine)
mdl_MotomanHP6 | Motoman HP6 (DH, kine)
mdl_nao | Alderabaran NAO arms and legs (DH, kine)
mdl_onelink | simple 1-link example (DH, kine)
mdl_phantomx | PhantomX pincher 4DOF hobby arm (DH, kine)
mdl_planar1 | simple 1 link planar model (DH, kine)
mdl_planar2 | simple 2 link planar model (DH, kine)
mdl_planar3 | simple 3 link planar model (DH, kine)
mdl_puma560 | Puma 560 data (DH, kine, dyn)
mdl_puma560akb | Puma 560 data (MDH, kine, dyn)
mdl_quadcopter | simple quadcopter model
mdl_S4ABB2p8 | ABB S4 2.8 (DH, kine)
mdl_stanford | Stanford arm data (DH, kine, dyn)
mdl_stanford_mdh | Stanford arm data (MDH, kine, dyn)
mdl_twolink | simple 2-link example (DH, kine, dyn)
mdl_twolink_mdh | simple 2-link example (MDH, kine)
moveline | non-holonomic vehicle moving to a line
movepoint | non-holonomic vehicle moving to a point
movepose | non-holonomic vehicle moving to a pose
mstraj | multi-axis multi-segment trajectory
mtraj | multi-axis trajectory for arbitrary function
multidfprintf | printf extension
Navigation | Navigation superclass
numcols | number of columns in matrix
numrows | number of rows in matrix
oa2r | orientation and approach vector to RM
oa2tr | orientation and approach vector to HT
ParticleFilter | Monte Carlo estimator
peak | find peak in 1D signal
peak2 | find peak in 2D signal
PGraph | general purpose graph class
plot2 | plot trajectory
plot2 | Plot trajectories
plot_arrow | draw an arrow
plot_box | draw a box
plot_circle | draw a circle
plot_ellipse | draw an ellipse
plot_homline | plot homogeneous line
plot_point | plot points
plot_poly | plot polygon
plot_sphere | draw a sphere
plot_vehicle | plot vehicle
plotbotopt |
plotp | plot points
plotp | Plot trajectories
polydiff | derivative of polynomial
Polygon | general purpose polygon class
Prismatic | construct a prismatic robot link object
PrismaticMDH | construct a prismatic robot link object
PRM | probabilistic roadmap planner
qplot | plot joint angle trajectories
Quaternion | constructor
Quaternion.interp | interpolate a quaternion
Quaternion.inv | invert a quaternion
Quaternion.norm | norm of a quaternion
Quaternion.plot | display a quaternion as a 3D rotation
Quaternion.unit | unitize a quaternion
r2t | RM to HT
ramp | create linear ramp
randinit | initialize random number generator
RandomPath | driver for Vehicle object
RangeBearingSensor | "laser scanner" object
Revolute | construct a revolute robot link object
RevoluteMDH | construct a revolute robot link object
RobotArm | Connect SerialLink object to real robot
rot2 | RM for SE(2) rotation
rotx | RM for rotation about X-axis
roty | RM for rotation about Y-axis
rotz | RM for rotation about Z-axis
rpy2jac | RPY angles to Jacobian
rpy2r | roll/pitch/yaw angles to RM
rpy2tr | roll/pitch/yaw angles to HT
RRT | rapidly exploring random tree
rt2tr | (R,t) to HT
rtbdemo | Serial-link manipulator demonstration
runscript | interactively step through a script
se2 | HT in SE(2)
Sensor | robot sensor superclass
SerialLink | construct a serial-link robot object
SerialLink.accel | forward dynamics
SerialLink.cinertia | Cartesian manipulator inertia matrix
SerialLink.coriolis | centripetal/coriolis torque
SerialLink.fdyn | forward dynamics
SerialLink.fkine | forward kinematics
SerialLink.friction | return joint friction torques
SerialLink.gravload | gravity loading
SerialLink.ikine | inverse kinematics (numeric)
SerialLink.ikine6s | inverse kinematics for 6-axis arm with sph.wrist
SerialLink.ikine_sym | inverse kinematics (symbolic)
SerialLink.inertia | manipulator inertia matrix
SerialLink.itorque | inertia torque
SerialLink.jacob0 | Jacobian in base coordinate frame
SerialLink.jacobn | Jacobian in end-effector coordinate frame
SerialLink.maniplty | compute manipulability
SerialLink.nofriction | return a robot object with no friction
SerialLink.perturb | return a robot object with perturbed parameters
SerialLink.plot | plot/animate robot
SerialLink.plot3d | plot/animate robot as solid model
SerialLink.rne | inverse dynamics
SerialLink.teach | drive a graphical robot
skew | vector to skew symmetric matrix
sl_bicycle | Simulink "bicycle model" of non-holonomic wheeled vehicle
sl_braitenberg | Simulink model a Braitenberg vehicle
sl_quadcopter | Simulink model of a flying quadcopter
t2r | HT to RM
tb_optparse | toolbox argument parser
tpoly | 1D polynomial trajectory
tr2angvec | HT/RM to angle/vector form
tr2delta | HT to differential motion vector
tr2eul | HT/RM to Euler angles
tr2jac | HT to Jacobian
tr2rpy | HT/RM to roll/pitch/yaw angles
tr2rt | HT to (R,t)
tranimate | animate a coordinate frame
transl | set or extract the translational component of HT
transl2 | set or extract the translational component of SE(2) HT
trchain | evaluate a series of transforms
trchain | chain of SE(3) transforms
trchain2 | chain of SE(2) transforms
trinterp | interpolate HT s
tripleangle | graphical interactive three angle rotation
tripleangle | demonstrate angle sequences
trnorm | normalize HT
trot2 | SO(2) rotation
trotx | HT for rotation about X-axis
troty | HT for rotation about Y-axis
trotz | HT for rotation about Z-axis
trplot | plot HT as a coordinate frame
trplot2 | plot HT, SE(2), as a coordinate frame
trprint | print an HT
trscale | HT for scale change
unit | unitize a vector
Vehicle | construct a mobile robot object
vex | skew symmetric matrix to vector
VREP | VREP interface class
VREP_arm | MATLAB mirror for VREP robot arm
VREP_camera | MATLAB mirror for VREP camera object
VREP_mirror | MATLAB mirror for VREP object
VREP_obj | MATLAB mirror for VREP object
walking | example of 4-legged walking robot
wtrans | transform wrench between frames
wtrans | transform a force/moment
xaxis | set x-axis scaling
xyzlabel | label axes x, y and z
yaxis | set y-axis scaling

- HT: homogeneous transformation, a 4x4 matrix, in SE(3)
- RM: rotation matrix, orthonormal 3x3 matrix, in SO(3)
- Functions of the form tr2XX will also accept an HT or RM as the argument
- HT: homogeneous transformation, a 3x3 matrix, in SE(2)
- RM: rotation matrix, orthonormal 2x2 matrix, in SO(2)
- Arbotix class in the folder robot/interfaces
- VREP classes are in the folder robot/interfaces/VREP
- located in the examples folder

Copyright © 1990-2011 Peter Corke