Function Reference

Homogeneous transformations 3D

angvec2r	angle/vector to RM
angvec2tr	angle/vector to HT
eul2r	Euler angles to RM
eul2tr	Euler angles to HT
oa2r	orientation and approach vector to RM
oa2tr	orientation and approach vector to HT
r2t	RM to HT
rt2tr	(R,t) to HT
rotx	RM for rotation about X-axis
roty	RM for rotation about Y-axis
rotz	RM for rotation about Z-axis
rpy2r	roll/pitch/yaw angles to RM
rpy2tr	roll/pitch/yaw angles to HT
t2r	HT to RM
tr2angvec	HT/RM to angle/vector form
tr2eul	HT/RM to Euler angles
tr2rpy	HT/RM to roll/pitch/yaw angles
tr2rt	HT to (R,t)
tranimate	animate a coordinate frame
trchain	evaluate a series of transforms
tripleangle	graphical interactive three angle rotation
transl	set or extract the translational component of HT
trnorm	normalize HT
trchain	chain of SE(3) transforms
trplot	plot HT as a coordinate frame
trprint	print an HT
trotx	HT for rotation about X-axis
troty	HT for rotation about Y-axis
trotz	HT for rotation about Z-axis
trscale	HT for scale change

rot2	RM for SE(2) rotation
se2	HT in SE(2)
transl2	set or extract the translational component of SE(2) HT
trchain2	chain of SE(2) transforms
trot2	SO(2) rotation
trplot2	plot HT, SE(2), as a coordinate frame

e2h	Euclidean coordinates to homogeneous
h2e	homogeneous coordinates to Euclidean
homline	create line from 2 points
homtrans	transform points

delta2tr	differential motion vector to HT
eul2jac	Euler angles to Jacobian
rpy2jac	RPY angles to Jacobian
skew	vector to skew symmetric matrix
tr2delta	HT to differential motion vector
tr2jac	HT to Jacobian
vex	skew symmetric matrix to vector
wtrans	transform wrench between frames

ctraj	Cartesian trajectory
jtraj	joint space trajectory
lspb	1D trapezoidal trajectory
mtraj	multi-axis trajectory for arbitrary function
mstraj	multi-axis multi-segment trajectory
tpoly	1D polynomial trajectory
trinterp	interpolate HT s

Quaternion	constructor
/	divide quaternion by quaternion or scalar
*	multiply quaternion by a quaternion or vector
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
Quaternion.interp	interpolate a quaternion

CodeGenerator	construct a robot specific code generator object
SerialLink	construct a serial-link robot object
Link	construct a general robot link object
Prismatic	construct a prismatic robot link object
Revolute	construct a revolute robot link object
PrismaticMDH	construct a prismatic robot link object
RevoluteMDH	construct a revolute robot link object
*	compound two robots
SerialLink.friction	return joint friction torques
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.teach	drive a graphical robot

mdl_Fanuc10L	Fanuc 10L (DH, kine)
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_phantomx	PhantomX pincher 4DOF hobby arm (DH, kine)
mdl_puma560	Puma 560 data (DH, kine, dyn)
mdl_puma560akb	Puma 560 data (MDH, kine, dyn)
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_onelink	simple 1-link example (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_3link3d	Simple 3DOF arm, no shoulder offset (DH, kine)
mdl_twolink	simple 2-link example (DH, kine, dyn)
mdl_twolink_mdh	simple 2-link example (MDH, kine)
mdl_ball	high DOF chain that forms a ball
mdl_coil	high DOF chain that forms a coil
mdl_hyper2d	2D high DOF chain
mdl_hyper3d	3D high DOF chain
mdl_quadcopter	simple quadcopter model

DHFactor	transform sequence to DH description
jsingu	find dependent joints
SerialLink.fkine	forward kinematics
SerialLink.ikine	inverse kinematics (numeric)
SerialLink.ikine_sym	inverse kinematics (symbolic)
SerialLink.ikine6s	inverse kinematics for 6-axis arm with sph.wrist
SerialLink.jacob0	Jacobian in base coordinate frame
SerialLink.jacobn	Jacobian in end-effector coordinate frame
SerialLink.maniplty	compute manipulability

SerialLink.accel	forward dynamics
SerialLink.cinertia	Cartesian manipulator inertia matrix
SerialLink.coriolis	centripetal/coriolis torque
SerialLink.fdyn	forward dynamics
wtrans	transform a force/moment
SerialLink.gravload	gravity loading
SerialLink.inertia	manipulator inertia matrix
SerialLink.itorque	inertia torque
SerialLink.rne	inverse dynamics

Map	point feature map object
RandomPath	driver for Vehicle object
RangeBearingSensor	"laser scanner" object
Vehicle	construct a mobile robot object
sl_bicycle	Simulink "bicycle model" of non-holonomic wheeled vehicle
Navigation	Navigation superclass
Sensor	robot sensor superclass
makemap	build an occupancy grid
plot_vehicle	plot vehicle

EKF	extended Kalman filter object
ParticleFilter	Monte Carlo estimator

Bug2	bug navigation
DXform	distance transform from map
Dstar	D* planner
PRM	probabilistic roadmap planner
RRT	rapidly exploring random tree

plot2	plot trajectory
plotp	plot points
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
qplot	plot joint angle trajectories
plot2	Plot trajectories
plotp	Plot trajectories
xaxis	set x-axis scaling
yaxis	set y-axis scaling
xyzlabel	label axes x, y and z

about	summary of object size and type
angdiff	subtract 2 angles modulo 2pi
arrow3	draw a 3D arrow (third party code)
bresenham	Bresenhan line drawing
circle	compute/draw points on a circle
colnorm	columnwise norm of matrix
colorname	map color name to RGB
diff2	elementwise diff
edgelist	trace edge of a shape
gauss2d	Gaussian distribution in 2D
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
numcols	number of columns in matrix
numrows	number of rows in matrix
peak	find peak in 1D signal
peak2	find peak in 2D signal
PGraph	general purpose graph class
polydiff	derivative of polynomial
Polygon	general purpose polygon class
randinit	initialize random number generator
ramp	create linear ramp
unit	unitize a vector
tb_optparse	toolbox argument parser
distancexform	compute distance transform
runscript	interactively step through a script
multidfprintf	printf extension

rtbdemo	Serial-link manipulator demonstration
tripleangle	demonstrate angle sequences

RobotArm	Connect SerialLink object to real robot
joystick	Help for joystick interface mex file
joy2tr	Update HT based on joystick input
VREP	VREP interface class
VREP_mirror	MATLAB mirror for VREP object
VREP_arm	MATLAB mirror for VREP robot arm
VREP_obj	MATLAB mirror for VREP object
VREP_camera	MATLAB mirror for VREP camera object

sl_quadcopter	Simulink model of a flying quadcopter
sl_braitenberg	Simulink model a Braitenberg vehicle
movepoint	non-holonomic vehicle moving to a point
moveline	non-holonomic vehicle moving to a line
movepose	non-holonomic vehicle moving to a pose
walking	example of 4-legged walking robot
eg_inertia	joint 1 inertia I(q1,q2)
eg_inertia22	joint 2 inertia I(q3)
eg_grav	joint 2 gravity load g(q2,q3)