* 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

bresenham Bresenhan line drawing

Bug2 bug navigation

circle compute/draw points on a circle

CodeGenerator create efficient run-time kinematic and dynamics code

colnorm columnwise norm of matrix

ctraj Cartesian trajectory

delta2tr differential motion vector to HT

DHFactor convert elementary transformations to DH form

DHFactor transform sequence to DH description

diff2 elementwise diff

distancexform compute distance transform

distributeblocks distribute blocks in a Simulink library

doesblockexist checks if a Simulink block exists

Dstar D* planner

DXform distance transform from map

e2h Euclidean coordinates to homogeneous

edgelist list of edge pixels

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

jtraj joint space trajectory

Link construct a robot link object

lspb 1D trapezoidal trajectory

makemap make a map, occupancy grid

Map point feature map object

mdl_ball high order ball shaped mechanism

mdl_coil high order coil shaped mechanism

mdl_Fanuc10L Fanuc 10L (DH, kine)

mdl_MotomanHP6 Motoman HP6 (DH, kine)

mdl_p8 Puma 6-axis robot on a 2-axis XY base

mdl_phantomx Trossen Robotics PhantomX pincher

mdl_puma560 Puma 560 data (DH, kine, dyn)

mdl_puma560_3 Puma 560, first 3 joints, kine only

mdl_puma560_3_sym Puma 560, first 3 joints, symbolic, kine only

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_twolink simple 2-link example (DH, 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 fprintf to multiple files

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

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

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 run a script or demo

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.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.rne inverse dynamics

SerialLink.teach drive a graphical robot

simulinkext determine extension of Simulink files

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

sl_quadrotor Simulink model of a flying quadrotor

symexpr2slblock embedded Matlab symbolic functions

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

trinterp interpolate HT s

tripleangle GUI to demonsrate triple angle rotations

trnorm normalize HT

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

unit unitize a vector

Vehicle construct a mobile robot object

vex skew symmetric matrix to vector

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, belongs to the group SE(3).
RM = RM, an orthonormal 3x3 matrix, belongs to the group SO(3).
Functions of the form tr2XX will also accept a RM as the argument.
located in the examples folder

*	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
bresenham	Bresenhan line drawing
Bug2	bug navigation
circle	compute/draw points on a circle
CodeGenerator	create efficient run-time kinematic and dynamics code
colnorm	columnwise norm of matrix
ctraj	Cartesian trajectory
delta2tr	differential motion vector to HT
DHFactor	convert elementary transformations to DH form
DHFactor	transform sequence to DH description
diff2	elementwise diff
distancexform	compute distance transform
distributeblocks	distribute blocks in a Simulink library
doesblockexist	checks if a Simulink block exists
Dstar	D* planner
DXform	distance transform from map
e2h	Euclidean coordinates to homogeneous
edgelist	list of edge pixels
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
jtraj	joint space trajectory
Link	construct a robot link object
lspb	1D trapezoidal trajectory
makemap	make a map, occupancy grid
Map	point feature map object
mdl_ball	high order ball shaped mechanism
mdl_coil	high order coil shaped mechanism
mdl_Fanuc10L	Fanuc 10L (DH, kine)
mdl_MotomanHP6	Motoman HP6 (DH, kine)
mdl_p8	Puma 6-axis robot on a 2-axis XY base
mdl_phantomx	Trossen Robotics PhantomX pincher
mdl_puma560	Puma 560 data (DH, kine, dyn)
mdl_puma560_3	Puma 560, first 3 joints, kine only
mdl_puma560_3_sym	Puma 560, first 3 joints, symbolic, kine only
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_twolink	simple 2-link example (DH, 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	fprintf to multiple files
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
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
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 run a script or demo
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.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.rne	inverse dynamics
SerialLink.teach	drive a graphical robot
simulinkext	determine extension of Simulink files
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
sl_quadrotor	Simulink model of a flying quadrotor
symexpr2slblock	embedded Matlab symbolic functions
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
trinterp	interpolate HT s
tripleangle	GUI to demonsrate triple angle rotations
trnorm	normalize HT
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
unit	unitize a vector
Vehicle	construct a mobile robot object
vex	skew symmetric matrix to vector
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