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209 lines
21 KiB
209 lines
21 KiB
<toc version="2.0">
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<tocitem target="contents_toc.html">Functions
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<tocitem target="contents_toc.html#homogeneoustransformations">Homogeneous transformations
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<tocitem target="html/angvec2r.html"><name>angvec2r</name><purpose>angle/vector to RM</purpose></tocitem>
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<tocitem target="html/angvec2tr.html"><name>angvec2tr</name><purpose>angle/vector to HT</purpose></tocitem>
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<tocitem target="html/eul2r.html"><name>eul2r</name><purpose>Euler angles to RM</purpose></tocitem>
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<tocitem target="html/eul2tr.html"><name>eul2tr</name><purpose>Euler angles to HT</purpose></tocitem>
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<tocitem target="html/oa2r.html"><name>oa2r</name><purpose>orientation and approach vector to RM</purpose></tocitem>
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<tocitem target="html/oa2tr.html"><name>oa2tr</name><purpose>orientation and approach vector to HT</purpose></tocitem>
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<tocitem target="html/r2t.html"><name>r2t</name><purpose>RM to HT</purpose></tocitem>
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<tocitem target="html/rt2tr.html"><name>rt2tr</name><purpose>(R,t) to HT</purpose></tocitem>
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<tocitem target="html/rotx.html"><name>rotx</name><purpose>RM for rotation about X-axis</purpose></tocitem>
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<tocitem target="html/roty.html"><name>roty</name><purpose>RM for rotation about Y-axis</purpose></tocitem>
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<tocitem target="html/rotz.html"><name>rotz</name><purpose>RM for rotation about Z-axis</purpose></tocitem>
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<tocitem target="html/rpy2r.html"><name>rpy2r</name><purpose>roll/pitch/yaw angles to RM</purpose></tocitem>
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<tocitem target="html/rpy2tr.html"><name>rpy2tr</name><purpose>roll/pitch/yaw angles to HT</purpose></tocitem>
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<tocitem target="html/se2.html"><name>se2</name><purpose>HT in SE(2)</purpose></tocitem>
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<tocitem target="html/t2r.html"><name>t2r</name><purpose>HT to RM</purpose></tocitem>
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<tocitem target="html/tr2angvec.html"><name>tr2angvec</name><purpose>HT/RM to angle/vector form</purpose></tocitem>
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<tocitem target="html/tr2eul.html"><name>tr2eul</name><purpose>HT/RM to Euler angles</purpose></tocitem>
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<tocitem target="html/tr2rpy.html"><name>tr2rpy</name><purpose>HT/RM to roll/pitch/yaw angles</purpose></tocitem>
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<tocitem target="html/tr2rt.html"><name>tr2rt</name><purpose>HT to (R,t)</purpose></tocitem>
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<tocitem target="html/tranimate.html"><name>tranimate</name><purpose>animate a coordinate frame</purpose></tocitem>
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<tocitem target="html/transl.html"><name>transl</name><purpose>set or extract the translational component of HT</purpose></tocitem>
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<tocitem target="html/trnorm.html"><name>trnorm</name><purpose>normalize HT</purpose></tocitem>
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<tocitem target="html/trplot.html"><name>trplot</name><purpose>plot HT as a coordinate frame</purpose></tocitem>
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<tocitem target="html/trplot2.html"><name>trplot2</name><purpose>plot HT, SE(2), as a coordinate frame</purpose></tocitem>
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<tocitem target="html/trprint.html"><name>trprint</name><purpose>print an HT</purpose></tocitem>
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<tocitem target="html/trotx.html"><name>trotx</name><purpose>HT for rotation about X-axis</purpose></tocitem>
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<tocitem target="html/troty.html"><name>troty</name><purpose>HT for rotation about Y-axis</purpose></tocitem>
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<tocitem target="html/trotz.html"><name>trotz</name><purpose>HT for rotation about Z-axis</purpose></tocitem>
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</tocitem>
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<tocitem target="contents_toc.html#homogeneouspointsandlines">Homogeneous points and lines
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<tocitem target="html/e2h.html"><name>e2h</name><purpose>Euclidean coordinates to homogeneous</purpose></tocitem>
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<tocitem target="html/h2e.html"><name>h2e</name><purpose>homogeneous coordinates to Euclidean</purpose></tocitem>
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<tocitem target="html/homline.html"><name>homline</name><purpose>create line from 2 points</purpose></tocitem>
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<tocitem target="html/homtrans.html"><name>homtrans</name><purpose>transform points</purpose></tocitem>
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</tocitem>
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<tocitem target="contents_toc.html#differentialmotion">Differential motion
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<tocitem target="html/delta2tr.html"><name>delta2tr</name><purpose>differential motion vector to HT</purpose></tocitem>
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<tocitem target="html/eul2jac.html"><name>eul2jac</name><purpose>Euler angles to Jacobian</purpose></tocitem>
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<tocitem target="html/rpy2jac.html"><name>rpy2jac</name><purpose>RPY angles to Jacobian</purpose></tocitem>
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<tocitem target="html/skew.html"><name>skew</name><purpose>vector to skew symmetric matrix</purpose></tocitem>
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<tocitem target="html/tr2delta.html"><name>tr2delta</name><purpose>HT to differential motion vector</purpose></tocitem>
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<tocitem target="html/tr2jac.html"><name>tr2jac</name><purpose>HT to Jacobian</purpose></tocitem>
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<tocitem target="html/vex.html"><name>vex</name><purpose>skew symmetric matrix to vector</purpose></tocitem>
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<tocitem target="html/wtrans.html"><name>wtrans</name><purpose>transform wrench between frames</purpose></tocitem>
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</tocitem>
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<tocitem target="contents_toc.html#trajectorygeneration">Trajectory generation
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<tocitem target="html/ctraj.html"><name>ctraj</name><purpose>Cartesian trajectory</purpose></tocitem>
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<tocitem target="html/jtraj.html"><name>jtraj</name><purpose>joint space trajectory</purpose></tocitem>
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<tocitem target="html/lspb.html"><name>lspb</name><purpose>1D trapezoidal trajectory</purpose></tocitem>
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<tocitem target="html/mtraj.html"><name>mtraj</name><purpose>multi-axis trajectory for arbitrary function</purpose></tocitem>
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<tocitem target="html/mstraj.html"><name>mstraj</name><purpose>multi-axis multi-segment trajectory</purpose></tocitem>
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<tocitem target="html/tpoly.html"><name>tpoly</name><purpose>1D polynomial trajectory</purpose></tocitem>
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<tocitem target="html/trinterp.html"><name>trinterp</name><purpose>interpolate HT s</purpose></tocitem>
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</tocitem>
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<tocitem target="contents_toc.html#quaternion">Quaternion
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<tocitem target="html/Quaternion.html"><name>Quaternion</name><purpose>constructor</purpose></tocitem>
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<tocitem target="html//.html"><name>/</name><purpose>divide quaternion by quaternion or scalar</purpose></tocitem>
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<tocitem target="html/*.html"><name>*</name><purpose>multiply quaternion by a quaternion or vector</purpose></tocitem>
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<tocitem target="html/Quaternion.html#inv"><name>inv</name><purpose>invert a quaternion</purpose></tocitem>
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<tocitem target="html/Quaternion.html#norm"><name>norm</name><purpose>norm of a quaternion</purpose></tocitem>
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<tocitem target="html/Quaternion.html#plot"><name>plot</name><purpose>display a quaternion as a 3D rotation</purpose></tocitem>
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<tocitem target="html/Quaternion.html#unit"><name>unit</name><purpose>unitize a quaternion</purpose></tocitem>
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<tocitem target="html/Quaternion.html#interp"><name>interp</name><purpose>interpolate a quaternion</purpose></tocitem>
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</tocitem>
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<tocitem target="contents_toc.html#serial-linkmanipulator">Serial-link manipulator
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<tocitem target="html/SerialLink.html"><name>SerialLink</name><purpose>construct a serial-link robot object</purpose></tocitem>
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<tocitem target="html/Link.html"><name>Link</name><purpose>construct a robot link object</purpose></tocitem>
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<tocitem target="html/Revolute.html"><name>Revolute</name><purpose>construct a revolute robot link object</purpose></tocitem>
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<tocitem target="html/Prismatic.html"><name>Prismatic</name><purpose>construct a prismatic robot link object</purpose></tocitem>
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<tocitem target="html/*.html"><name>*</name><purpose>compound two robots</purpose></tocitem>
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<tocitem target="html/SerialLink.html#friction"><name>friction</name><purpose>return joint friction torques</purpose></tocitem>
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<tocitem target="html/SerialLink.html#nofriction"><name>nofriction</name><purpose>return a robot object with no friction</purpose></tocitem>
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<tocitem target="html/SerialLink.html#perturb"><name>perturb</name><purpose>return a robot object with perturbed parameters</purpose></tocitem>
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<tocitem target="html/SerialLink.html#plot"><name>plot</name><purpose>plot/animate robot</purpose></tocitem>
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<tocitem target="html/SerialLink.html#teach"><name>teach</name><purpose>drive a graphical robot</purpose></tocitem>
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<tocitem target="html/CodeGenerator.html"><name>CodeGenerator</name><purpose>create efficient run-time kinematic and dynamics code</purpose></tocitem>
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</tocitem>
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<tocitem target="contents_toc.html#models">Models
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<tocitem target="html/mdl_ball.html"><name>mdl_ball</name><purpose>high order ball shaped mechanism</purpose></tocitem>
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<tocitem target="html/mdl_coil.html"><name>mdl_coil</name><purpose>high order coil shaped mechanism</purpose></tocitem>
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<tocitem target="html/mdl_Fanuc10L.html"><name>mdl_Fanuc10L</name><purpose>Fanuc 10L (DH, kine)</purpose></tocitem>
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<tocitem target="html/mdl_MotomanHP6.html"><name>mdl_MotomanHP6</name><purpose>Motoman HP6 (DH, kine)</purpose></tocitem>
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<tocitem target="html/mdl_phantomx.html"><name>mdl_phantomx</name><purpose>Trossen Robotics PhantomX pincher</purpose></tocitem>
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<tocitem target="html/mdl_puma560.html"><name>mdl_puma560</name><purpose>Puma 560 data (DH, kine, dyn)</purpose></tocitem>
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<tocitem target="html/mdl_puma560_3.html"><name>mdl_puma560_3</name><purpose>Puma 560, first 3 joints, kine only</purpose></tocitem>
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<tocitem target="html/mdl_puma560_3_sym.html"><name>mdl_puma560_3_sym</name><purpose>Puma 560, first 3 joints, symbolic, kine only</purpose></tocitem>
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<tocitem target="html/mdl_puma560akb.html"><name>mdl_puma560akb</name><purpose>Puma 560 data (MDH, kine, dyn)</purpose></tocitem>
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<tocitem target="html/mdl_p8.html"><name>mdl_p8</name><purpose>Puma 6-axis robot on a 2-axis XY base</purpose></tocitem>
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<tocitem target="html/mdl_S4ABB2p8.html"><name>mdl_S4ABB2p8</name><purpose>ABB S4 2.8 (DH, kine)</purpose></tocitem>
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<tocitem target="html/mdl_stanford.html"><name>mdl_stanford</name><purpose>Stanford arm data (DH, kine, dyn)</purpose></tocitem>
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<tocitem target="html/mdl_twolink.html"><name>mdl_twolink</name><purpose>simple 2-link example (DH, kine)</purpose></tocitem>
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<tocitem target="html/DHFactor.html"><name>DHFactor</name><purpose>convert elementary transformations to DH form</purpose></tocitem>
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</tocitem>
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<tocitem target="contents_toc.html#kinematic">Kinematic
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<tocitem target="html/DHFactor.html"><name>DHFactor</name><purpose>transform sequence to DH description</purpose></tocitem>
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<tocitem target="html/SerialLink.html#fkine"><name>fkine</name><purpose>forward kinematics</purpose></tocitem>
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<tocitem target="html/SerialLink.html#ikine"><name>ikine</name><purpose>inverse kinematics (numeric)</purpose></tocitem>
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<tocitem target="html/SerialLink.html#ikine6s"><name>ikine6s</name><purpose>inverse kinematics for 6-axis arm with sph.wrist</purpose></tocitem>
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<tocitem target="html/SerialLink.html#jacob0"><name>jacob0</name><purpose>Jacobian in base coordinate frame</purpose></tocitem>
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<tocitem target="html/SerialLink.html#jacobn"><name>jacobn</name><purpose>Jacobian in end-effector coordinate frame</purpose></tocitem>
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<tocitem target="html/SerialLink.html#maniplty"><name>maniplty</name><purpose>compute manipulability</purpose></tocitem>
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</tocitem>
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<tocitem target="contents_toc.html#dynamics">Dynamics
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<tocitem target="html/SerialLink.html#accel"><name>accel</name><purpose>forward dynamics</purpose></tocitem>
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<tocitem target="html/SerialLink.html#cinertia"><name>cinertia</name><purpose>Cartesian manipulator inertia matrix</purpose></tocitem>
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<tocitem target="html/SerialLink.html#coriolis"><name>coriolis</name><purpose>centripetal/coriolis torque</purpose></tocitem>
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<tocitem target="html/SerialLink.html#fdyn"><name>fdyn</name><purpose>forward dynamics</purpose></tocitem>
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<tocitem target="html/wtrans.html"><name>wtrans</name><purpose>transform a force/moment</purpose></tocitem>
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<tocitem target="html/SerialLink.html#gravload"><name>gravload</name><purpose>gravity loading</purpose></tocitem>
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<tocitem target="html/SerialLink.html#inertia"><name>inertia</name><purpose>manipulator inertia matrix</purpose></tocitem>
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<tocitem target="html/SerialLink.html#itorque"><name>itorque</name><purpose>inertia torque</purpose></tocitem>
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<tocitem target="html/SerialLink.html#rne"><name>rne</name><purpose>inverse dynamics</purpose></tocitem>
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</tocitem>
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<tocitem target="contents_toc.html#mobilerobot">Mobile robot
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<tocitem target="html/Map.html"><name>Map</name><purpose>point feature map object</purpose></tocitem>
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<tocitem target="html/RandomPath.html"><name>RandomPath</name><purpose>driver for Vehicle object</purpose></tocitem>
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<tocitem target="html/RangeBearingSensor.html"><name>RangeBearingSensor</name><purpose>"laser scanner" object</purpose></tocitem>
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<tocitem target="html/Vehicle.html"><name>Vehicle</name><purpose>construct a mobile robot object</purpose></tocitem>
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<tocitem target="html/sl_bicycle.html"><name>sl_bicycle</name><purpose>Simulink "bicycle model" of non-holonomic wheeled vehicle</purpose></tocitem>
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<tocitem target="html/Navigation.html"><name>Navigation</name><purpose>Navigation superclass</purpose></tocitem>
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<tocitem target="html/Sensor.html"><name>Sensor</name><purpose>robot sensor superclass</purpose></tocitem>
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<tocitem target="html/plot_vehicle.html"><name>plot_vehicle</name><purpose>plot vehicle</purpose></tocitem>
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<tocitem target="html/makemap.html"><name>makemap</name><purpose>make a map, occupancy grid</purpose></tocitem>
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<tocitem target="html/mdl_quadcopter.html"><name>mdl_quadcopter</name><purpose>simple quadcopter model</purpose></tocitem>
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<tocitem target="html/sl_quadrotor.html"><name>sl_quadrotor</name><purpose>Simulink model of a flying quadrotor</purpose></tocitem>
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</tocitem>
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<tocitem target="contents_toc.html#localization">Localization
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<tocitem target="html/EKF.html"><name>EKF</name><purpose>extended Kalman filter object</purpose></tocitem>
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<tocitem target="html/ParticleFilter.html"><name>ParticleFilter</name><purpose>Monte Carlo estimator</purpose></tocitem>
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</tocitem>
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<tocitem target="contents_toc.html#pathplanning">Path planning
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<tocitem target="html/Bug2.html"><name>Bug2</name><purpose>bug navigation</purpose></tocitem>
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<tocitem target="html/DXform.html"><name>DXform</name><purpose>distance transform from map</purpose></tocitem>
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<tocitem target="html/Dstar.html"><name>Dstar</name><purpose>D* planner</purpose></tocitem>
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<tocitem target="html/PRM.html"><name>PRM</name><purpose>probabilistic roadmap planner</purpose></tocitem>
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<tocitem target="html/RRT.html"><name>RRT</name><purpose>rapidly exploring random tree</purpose></tocitem>
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</tocitem>
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<tocitem target="contents_toc.html#graphics">Graphics
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<tocitem target="html/plot2.html"><name>plot2</name><purpose>plot trajectory</purpose></tocitem>
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<tocitem target="html/plotp.html"><name>plotp</name><purpose>plot points</purpose></tocitem>
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<tocitem target="html/plot_arrow.html"><name>plot_arrow</name><purpose>draw an arrow</purpose></tocitem>
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<tocitem target="html/plot_box.html"><name>plot_box</name><purpose>draw a box</purpose></tocitem>
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<tocitem target="html/plot_circle.html"><name>plot_circle</name><purpose>draw a circle</purpose></tocitem>
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<tocitem target="html/plot_ellipse.html"><name>plot_ellipse</name><purpose>draw an ellipse</purpose></tocitem>
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<tocitem target="html/plot_homline.html"><name>plot_homline</name><purpose>plot homogeneous line</purpose></tocitem>
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<tocitem target="html/plot_point.html"><name>plot_point</name><purpose>plot points</purpose></tocitem>
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<tocitem target="html/plot_poly.html"><name>plot_poly</name><purpose>plot polygon</purpose></tocitem>
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<tocitem target="html/plot_sphere.html"><name>plot_sphere</name><purpose>draw a sphere</purpose></tocitem>
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<tocitem target="html/qplot.html"><name>qplot</name><purpose>plot joint angle trajectories</purpose></tocitem>
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<tocitem target="html/plot2.html"><name>plot2</name><purpose>Plot trajectories</purpose></tocitem>
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<tocitem target="html/plotp.html"><name>plotp</name><purpose>Plot trajectories</purpose></tocitem>
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<tocitem target="html/xaxis.html"><name>xaxis</name><purpose>set x-axis scaling</purpose></tocitem>
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<tocitem target="html/yaxis.html"><name>yaxis</name><purpose>set y-axis scaling</purpose></tocitem>
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<tocitem target="html/xyzlabel.html"><name>xyzlabel</name><purpose>label axes x, y and z</purpose></tocitem>
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</tocitem>
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<tocitem target="contents_toc.html#utility">Utility
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<tocitem target="html/about.html"><name>about</name><purpose>summary of object size and type</purpose></tocitem>
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<tocitem target="html/angdiff.html"><name>angdiff</name><purpose>subtract 2 angles modulo 2pi</purpose></tocitem>
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<tocitem target="html/bresenham.html"><name>bresenham</name><purpose>Bresenhan line drawing</purpose></tocitem>
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<tocitem target="html/circle.html"><name>circle</name><purpose>compute/draw points on a circle</purpose></tocitem>
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<tocitem target="html/colnorm.html"><name>colnorm</name><purpose>columnwise norm of matrix</purpose></tocitem>
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<tocitem target="html/diff2.html"><name>diff2</name><purpose>elementwise diff</purpose></tocitem>
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<tocitem target="html/distancexform.html"><name>distancexform</name><purpose>compute distance transform</purpose></tocitem>
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<tocitem target="html/edgelist.html"><name>edgelist</name><purpose>list of edge pixels</purpose></tocitem>
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<tocitem target="html/gauss2d.html"><name>gauss2d</name><purpose>Gaussian distribution in 2D</purpose></tocitem>
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<tocitem target="html/ishomog.html"><name>ishomog</name><purpose>true if argument is a 4x4 matrix</purpose></tocitem>
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<tocitem target="html/ismatrix.html"><name>ismatrix</name><purpose>true if non scalar</purpose></tocitem>
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<tocitem target="html/isrot.html"><name>isrot</name><purpose>true if argument is a 3x3 matrix</purpose></tocitem>
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<tocitem target="html/isvec.html"><name>isvec</name><purpose>true if argument is a 3-vector</purpose></tocitem>
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<tocitem target="html/numcols.html"><name>numcols</name><purpose>number of columns in matrix</purpose></tocitem>
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<tocitem target="html/numrows.html"><name>numrows</name><purpose>number of rows in matrix</purpose></tocitem>
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<tocitem target="html/peak.html"><name>peak</name><purpose>find peak in 1D signal</purpose></tocitem>
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<tocitem target="html/peak2.html"><name>peak2</name><purpose>find peak in 2D signal</purpose></tocitem>
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<tocitem target="html/PGraph.html"><name>PGraph</name><purpose>general purpose graph class</purpose></tocitem>
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<tocitem target="html/polydiff.html"><name>polydiff</name><purpose>derivative of polynomial</purpose></tocitem>
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<tocitem target="html/Polygon.html"><name>Polygon</name><purpose>general purpose polygon class</purpose></tocitem>
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<tocitem target="html/randinit.html"><name>randinit</name><purpose>initialize random number generator</purpose></tocitem>
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<tocitem target="html/ramp.html"><name>ramp</name><purpose>create linear ramp</purpose></tocitem>
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<tocitem target="html/runscript.html"><name>runscript</name><purpose>interactively run a script or demo</purpose></tocitem>
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<tocitem target="html/unit.html"><name>unit</name><purpose>unitize a vector</purpose></tocitem>
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<tocitem target="html/tb_optparse.html"><name>tb_optparse</name><purpose>toolbox argument parser</purpose></tocitem>
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</tocitem>
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<tocitem target="contents_toc.html#codegensupport">CodeGen support
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<tocitem target="html/distributeblocks.html"><name>distributeblocks</name><purpose>distribute blocks in a Simulink library</purpose></tocitem>
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<tocitem target="html/doesblockexist.html"><name>doesblockexist</name><purpose>checks if a Simulink block exists</purpose></tocitem>
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<tocitem target="html/multidfprintf.html"><name>multidfprintf</name><purpose>fprintf to multiple files</purpose></tocitem>
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<tocitem target="html/symexpr2slblock.html"><name>symexpr2slblock</name><purpose>embedded Matlab symbolic functions</purpose></tocitem>
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<tocitem target="html/simulinkext.html"><name>simulinkext</name><purpose>determine extension of Simulink files</purpose></tocitem>
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</tocitem>
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<tocitem target="contents_toc.html#demonstrations">Demonstrations
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<tocitem target="html/rtbdemo.html"><name>rtbdemo</name><purpose>Serial-link manipulator demonstration</purpose></tocitem>
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<tocitem target="html/tripleangle.html"><name>tripleangle</name><purpose>GUI to demonsrate triple angle rotations</purpose></tocitem>
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</tocitem>
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<tocitem target="contents_toc.html#examples">Examples
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<tocitem target="html/sl_quadcopter.html"><name>sl_quadcopter</name><purpose>Simulink model of a flying quadcopter</purpose></tocitem>
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<tocitem target="html/sl_braitenberg.html"><name>sl_braitenberg</name><purpose>Simulink model a Braitenberg vehicle</purpose></tocitem>
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<tocitem target="html/movepoint.html"><name>movepoint</name><purpose>non-holonomic vehicle moving to a point</purpose></tocitem>
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<tocitem target="html/moveline.html"><name>moveline</name><purpose>non-holonomic vehicle moving to a line</purpose></tocitem>
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<tocitem target="html/movepose.html"><name>movepose</name><purpose>non-holonomic vehicle moving to a pose</purpose></tocitem>
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<tocitem target="html/walking.html"><name>walking</name><purpose>example of 4-legged walking robot</purpose></tocitem>
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<tocitem target="html/eg_inertia.html"><name>eg_inertia</name><purpose>joint 1 inertia I(q1,q2)</purpose></tocitem>
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<tocitem target="html/eg_inertia22.html"><name>eg_inertia22</name><purpose>joint 2 inertia I(q3)</purpose></tocitem>
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<tocitem target="html/eg_grav.html"><name>eg_grav</name><purpose>joint 2 gravity load g(q2,q3)</purpose></tocitem>
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</tocitem>
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</tocitem>
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</toc>
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