Function Reference |
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angvec2r | angle/vector to RM |
angvec2tr | angle/vector to HT |
eul2r | Euler angles to RM |
eul2tr | Euler angles to HT |
ishomog | true if argument is a 4x4 matrix |
isunit | true if argument is a unit vector |
isrot | true if argument is a 3x3 matrix |
oa2r | orientation and approach vector to RM |
oa2tr | orientation and approach vector 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 |
tr2angvec | HT/RM to angle/vector form |
tr2eul | HT/RM to Euler angles |
tr2rpy | HT/RM to roll/pitch/yaw angles |
transl | set or extract the translational component of HT |
trchain | sequence of HT |
trinterp | interpolate an HT |
tripleangle | GUI for triple angle visualization |
trnorm | normalize HT |
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 |
trlog | efficient logarithm |
trexp | efficient exponentiation |
trscale | pure scale change |
ishomog2 | true if argument is a 4x4 matrix |
isrot2 | true if argument is a 3x3 matrix |
rot2 | rotation matrix in 2D |
transl2 | set or extract the translational component of HT |
trchain2 | sequence of HT |
trexp2 | exp in 2D |
trinterp2 | interpolate an HT |
trot2 | HT for rotation in 2D |
trprint2 | print an HT |
r2t | RM to HT |
t2r | HT to RM |
rt2tr | (R,t) to HT |
tr2rt | HT to (R,t) |
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 |
skewa | vector to augmented skew symmetric matrix |
tr2delta | HT to differential motion vector |
tr2jac | HT to Jacobian |
vex | skew symmetric matrix to vector |
vexa | augmented 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 |
trinterp2 | interpolate HT s |
+ETS2 | elementary transform sequence in 2D |
+ETS3 | elementary transform sequence in 3D |
Quaternion | general quaternions |
SO2 | rotations SO(2) |
SE2 | poses SE(2) |
SO3 | rotations SO(3) |
SE3 | poses SE(3) |
Twist | 2D and 3D twists |
UnitQuaternion | unit quaternions |
RTBPose | Abstract pose support |
DHFactor | convert elementary transformations to DH form |
Link | construct a robot link object |
Prismatic | construct a prismatic link object |
PrismaticMDH | construct a prismatic link object (MDH params) |
Revolute | construct a revolute link object |
RevoluteMDH | construct a revolute link object (MDH params) |
SerialLink | construct a serial-link robot object |
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.teach | drive a graphical robot |
models | list/search all models |
mdl_KR5 | Kuka KR5 |
mdl_S4ABB2p8 | ABB S4 2.8 (DH, kine) |
mdl_ball | high DOF ball robot |
mdl_baxter | Rethink Robotics Baxter |
mdl_cobra600 | Adept SCARA robot |
mdl_coil | high DOF coiled robot |
mdl_Fanuc10L | Fanuc 10L (DH, kine) |
mdl_hyper2d | high DOF planar |
mdl_hyper3d | high DOF 3D |
mdl_irb140 | ABB IRB140 |
mdl_irb140_mdh | ABB IRB140 (MDH) |
mdl_jaco | Kinova Jaco (DH) |
mdl_KR5 | Kuka KR5 (DH) |
mdl_LWR | Kuka LWR (DH) |
mdl_m16 | Fanuc M16 |
mdl_mico | Kinova Mico (DH) |
mdl_MotomanHP6 | Motoman HP6 (DH, kine) |
mdl_nao | Alderbaran Nao humanoid |
mdl_p8 | Puma 560 on an XY base |
mdl_phantomx | PhantomX pincher |
mdl_planar1 | 1 line planar robot |
mdl_planar2 | 1 line planar robot |
mdl_planar3 | 1 line planar robot |
mdl_puma560 | Puma 560 data (DH, kine, dyn) |
mdl_puma560akb | Puma 560 data (MDH, kine, dyn) |
mdl_quadrotor | simple quadcopter model |
mdl_stanford | Stanford arm data (DH, kine, dyn) |
mdl_stanford_mdh | Stanford arm data (MDH, kine) |
mdl_twolink | simple 2-link example (DH, kine) |
mdl_twolink_mdh | simple 2-link example (MDH, kine) |
mdl_twolink_sym | simple 2-link example (DH, kine, symbolic) |
mdl_ur3 | Universal Robotics UR3 (DH, kine, dyn) |
mdl_ur5 | Universal Robotics UR5 (DH, kine, dyn) |
mdl_ur10 | Universal Robotics UR10 (DH, kine, dyn) |
DHFactor | transform sequence to DH description |
ETS2 | simplified kinematics in 2D |
ETS3 | simplified kinematics in 3D |
jsingu | find joint singularity |
SerialLink.fkine | forward kinematics |
SerialLink.ikine | inverse kinematics (numeric) |
SerialLink.ikine6s | inverse kinematics for 6-axis arm with sph.wrist |
SerialLink.jacob0 | Jacobian in base coordinate frame |
SerialLink.jacobe | Jacobian in end-effector coordinate frame |
SerialLink.maniplty | compute manipulability |
trchain | transform chain in 3D |
trchain2 | transform chain in 2D |
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 |
LandmarkMap | point feature map object |
RandomPath | driver for Vehicle object |
RangeBearingSensor | "laser scanner" object |
Vehicle | abstract vehicle superclass |
Bicycle | construct a mobile robot with bicycle like kinematics |
Unicycle | construct a mobile robot with unicycle like kinematics |
sl_bicycle | Simulink "bicycle model" of non-holonomic wheeled vehicle |
Navigation | Navigation superclass |
Sensor | robot sensor superclass |
plot_vehicle | plot vehicle |
EKF | extended Kalman filter object |
ParticleFilter | Monte Carlo estimator |
PoseGraph | pose-graph SLAM |
Bug2 | bug navigation |
DXform | distance transform from map |
Dstar | D* planner |
Lattice | lattice planner |
PRM | probabilistic roadmap planner |
RRT | rapidly exploring random tree |
circle | compute/draw points on a circle |
mplot | time series plotting |
plot2 | plot trajectory |
plotp | plot points |
plotvol | set plot bounds |
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 |
trplot | plot HT as a coordinate frame |
trplot2 | plot HT, SE(2), as a coordinate frame |
tranimate | animate a coordinate frame |
tranimate2 | animate a coordinate frame |
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 |
bresenham | Bresenhan line drawing |
colnorm | columnwise norm of matrix |
diff2 | elementwise diff |
distancexform | compute distance transform |
edgelist | trace edge of a blob |
gauss2d | Gaussian distribution in 2D |
ismatrix | true if non scalar |
isvec | true if argument is a 3-vector |
isunit | true if argument is a unit 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 |
pickregion | pick a region in figure |
Plucker | Plucker line class |
polydiff | derivative of polynomial |
Polygon | general purpose polygon class |
randinit | initialize random number generator |
ramp | create linear ramp |
runscript | step through a script file |
unit | unitize a vector |
tb_optparse | toolbox argument parser |
stlRead | read an STL file |
RTBPlot | graphics support |
chi2inv_rtb | simple inverse chi squared |
rtbdemo | Serial-link manipulator demonstration |
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) |