plateform stringclasses 1
value | repo_name stringlengths 13 113 | name stringlengths 3 74 | ext stringclasses 1
value | path stringlengths 12 229 | size int64 23 843k | source_encoding stringclasses 9
values | md5 stringlengths 32 32 | text stringlengths 23 843k |
|---|---|---|---|---|---|---|---|---|
github | brennanyama/robotx-master | mdl_hyper3d.m | .m | robotx-master/pathplanning/Version_02/robot/mdl_hyper3d.m | 2,403 | utf_8 | e0ef02711c8ead2b3b46d5ddd64729d0 | %MDL_HYPER3D Create model of a hyper redundant 3D manipulator
%
% MDL_HYPER3D is a script that creates the workspace variable h3d which
% describes the kinematic characteristics of a serial link manipulator with
% 10 joints which at zero angles is a straight line in the XY plane.
%
% MDL_HYPER3D(N) as above but creates... |
github | brennanyama/robotx-master | skew.m | .m | robotx-master/pathplanning/Version_02/robot/skew.m | 1,264 | utf_8 | de17ef39e2a31742b67cb6af26a860b0 | %SKEW Create skew-symmetric matrix
%
% S = SKEW(V) is a skew-symmetric matrix formed from V (3x1).
%
% | 0 -vz vy|
% | vz 0 -vx|
% |-vy vx 0 |
%
% See also VEX.
% Copyright (C) 1993-2015, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
%
% RTB... |
github | brennanyama/robotx-master | mtraj.m | .m | robotx-master/pathplanning/Version_02/robot/mtraj.m | 3,272 | utf_8 | ad3d0e215bc1d2479e2fb6cfcc7ec1a2 | %MTRAJ Multi-axis trajectory between two points
%
% [Q,QD,QDD] = MTRAJ(TFUNC, Q0, QF, M) is a multi-axis trajectory (MxN) varying
% from configuration Q0 (1xN) to QF (1xN) according to the scalar trajectory function
% TFUNC in M steps. Joint velocity and acceleration can be optionally returned as
% QD (MxN) and QDD (... |
github | brennanyama/robotx-master | transl.m | .m | robotx-master/pathplanning/Version_02/robot/transl.m | 3,159 | utf_8 | ed2aa6268c6e1819d54ecd3b40b8aa3c | %TRANSL Create or unpack an SE3 translational transform
%
% Create a translational transformation matrix::
%
% T = TRANSL(X, Y, Z) is an SE(3) homogeneous transform (4x4) representing
% a pure translation of X, Y and Z.
%
% T = TRANSL(P) is an SE(3) homogeneous transform (4x4) representing a
% translation of P=[X,Y,Z].... |
github | brennanyama/robotx-master | mdl_offset6.m | .m | robotx-master/pathplanning/Version_02/robot/mdl_offset6.m | 2,189 | utf_8 | 21f6b65820933754b68e6cc999e1b17c | %MDL_OFFSET6 A minimalistic 6DOF robot arm with shoulder offset
%
% MDL_OFFSET6 is a script that creates the workspace variable off6 which
% describes the kinematic characteristics of a simple arm manipulator with
% a spherical wrist and a shoulder offset, using standard DH conventions.
%
% Also define the workspace ve... |
github | brennanyama/robotx-master | Quaternion.m | .m | robotx-master/pathplanning/Version_02/robot/Quaternion.m | 24,669 | utf_8 | a354f6d422d837a1bef76c48453c9b05 | %QUATERNION Quaternion class
%
% A quaternion is a compact method of representing a 3D rotation that has
% computational advantages including speed and numerical robustness.
% A quaternion has 2 parts, a scalar s, and a vector v and is typically
% written: q = s <vx, vy, vz>.
%
% A unit-quaternion is one for which ... |
github | brennanyama/robotx-master | lspb.m | .m | robotx-master/pathplanning/Version_02/robot/lspb.m | 4,375 | utf_8 | 12f6b2f88c4bc3476300a0dff5871126 | %LSPB Linear segment with parabolic blend
%
% [S,SD,SDD] = LSPB(S0, SF, M) is a scalar trajectory (Mx1) that varies
% smoothly from S0 to SF in M steps using a constant velocity segment and
% parabolic blends (a trapezoidal path). Velocity and acceleration can be
% optionally returned as SD (Mx1) and SDD (Mx1).
%
%... |
github | brennanyama/robotx-master | qplot.m | .m | robotx-master/pathplanning/Version_02/robot/qplot.m | 1,521 | utf_8 | 866f3401741daf05aef9b69918184a32 | %QPLOT Plot robot joint angles
%
% QPLOT(Q) is a convenience function to plot joint angle trajectories (Mx6) for
% a 6-axis robot, where each row represents one time step.
%
% The first three joints are shown as solid lines, the last three joints (wrist)
% are shown as dashed lines. A legend is also displayed.
%
% QP... |
github | brennanyama/robotx-master | tranimate.m | .m | robotx-master/pathplanning/Version_02/robot/tranimate.m | 4,258 | utf_8 | 6c83c88337ac36d5a853d44847202aad | %TRANIMATE Animate a coordinate frame
%
% TRANIMATE(P1, P2, OPTIONS) animates a 3D coordinate frame moving from pose X1
% to pose X2. Poses X1 and X2 can be represented by:
% - homogeneous transformation matrices (4x4)
% - orthonormal rotation matrices (3x3)
% - Quaternion
%
% TRANIMATE(X, OPTIONS) animates a co... |
github | brennanyama/robotx-master | tr2delta.m | .m | robotx-master/pathplanning/Version_02/robot/tr2delta.m | 1,953 | utf_8 | 0de6fdf1fd9e0c8794666ea3ff6447f6 | %TR2DELTA Convert homogeneous transform to differential motion
%
% D = TR2DELTA(T0, T1) is the differential motion (6x1) corresponding to
% infinitessimal motion from pose T0 to T1 which are homogeneous
% transformations (4x4). D=(dx, dy, dz, dRx, dRy, dRz) and is an approximation
% to the average spatial velocity mu... |
github | brennanyama/robotx-master | jsingu.m | .m | robotx-master/pathplanning/Version_02/robot/jsingu.m | 1,374 | utf_8 | a4edf1c07d4deae1d343f83bfbb6a0e5 | %JSINGU Show the linearly dependent joints in a Jacobian matrix
%
% JSINGU(J) displays the linear dependency of joints in a Jacobian matrix.
% This dependency indicates joint axes that are aligned and causes singularity.
%
% See also SerialLink.jacobn.
% Copyright (C) 1993-2015, by Peter I. Corke
%
% This file is par... |
github | brennanyama/robotx-master | troty.m | .m | robotx-master/pathplanning/Version_02/robot/troty.m | 1,158 | utf_8 | b7578bdd3a56caa8851cf7de9d8eb6de | %TROTY Rotation about Y axis
%
% T = TROTY(THETA) is a homogeneous transformation (4x4) representing a rotation
% of THETA radians about the y-axis.
%
% T = TROTY(THETA, 'deg') as above but THETA is in degrees.
%
% Notes::
% - Translational component is zero.
%
% See also ROTY, TROTX, TROTZ, TROT2.
% Copyright (C) ... |
github | brennanyama/robotx-master | r2t.m | .m | robotx-master/pathplanning/Version_02/robot/r2t.m | 1,768 | utf_8 | b91524700b24aa409bdc166a1b9600b5 | %R2T Convert rotation matrix to a homogeneous transform
%
% T = R2T(R) is an SE(2) or SE(3) homogeneous transform equivalent to an
% SO(2) or SO(3) orthonormal rotation matrix R with a zero translational
% component.
%
% Notes::
% - Works for T in either SE(2) or SE(3)
% - if R is 2x2 then T is 3x3, or
% - if R is 3x... |
github | brennanyama/robotx-master | rotx.m | .m | robotx-master/pathplanning/Version_02/robot/rotx.m | 1,238 | utf_8 | 3ebe75a6790ac8f108d8b9d2b96e273e | %ROTX Rotation about X axis
%
% R = ROTX(THETA) is an SO(3) rotation matrix (3x3) representing a rotation of THETA
% radians about the x-axis.
%
% R = ROTX(THETA, 'deg') as above but THETA is in degrees.
%
% See also ROTY, ROTZ, ANGVEC2R, ROT2.
% Copyright (C) 1993-2015, by Peter I. Corke
%
% This file is part of T... |
github | brennanyama/robotx-master | mdl_m16.m | .m | robotx-master/pathplanning/Version_02/robot/mdl_m16.m | 2,660 | utf_8 | 580ba09453b1fd33115ebd3bbb9e5e20 | %MDL_M16 Create model of Fanuc M16 manipulator
%
% MDL_M16 is a script that creates the workspace variable mico which
% describes the kinematic characteristics of a Fanuc M16 manipulator using
% standard DH conventions.
%
% Also define the workspace vectors:
% qz zero joint angle configuration
% qr ... |
github | brennanyama/robotx-master | oa2tr.m | .m | robotx-master/pathplanning/Version_02/robot/oa2tr.m | 1,623 | utf_8 | 344a898c16370072d6f8f81063468db2 | %OA2TR Convert orientation and approach vectors to homogeneous transformation
%
% T = OA2TR(O, A) is an SE(3) homogeneous tranformation (4x4) for the
% specified orientation and approach vectors (3x1) formed from 3 vectors
% such that R = [N O A] and N = O x A.
%
% Notes::
% - The rotation submatrix is guaranteed to be... |
github | brennanyama/robotx-master | trotz.m | .m | robotx-master/pathplanning/Version_02/robot/trotz.m | 1,158 | utf_8 | 6ba600251b68d0c494980859ca0eeace | %TROTZ Rotation about Z axis
%
% T = TROTZ(THETA) is a homogeneous transformation (4x4) representing a rotation
% of THETA radians about the z-axis.
%
% T = TROTZ(THETA, 'deg') as above but THETA is in degrees.
%
% Notes::
% - Translational component is zero.
%
% See also ROTZ, TROTX, TROTY, TROT2.
% Copyright (C) ... |
github | brennanyama/robotx-master | tr2angvec.m | .m | robotx-master/pathplanning/Version_02/robot/tr2angvec.m | 4,280 | utf_8 | cd1e3f02ecd789db3e1cff5235d9584c | %TR2ANGVEC Convert rotation matrix to angle-vector form
%
% [THETA,V] = TR2ANGVEC(R, OPTIONS) is rotation expressed in terms of an
% angle THETA (1x1) about the axis V (1x3) equivalent to the orthonormal rotation
% matrix R (3x3).
%
% [THETA,V] = TR2ANGVEC(T, OPTIONS) as above but uses the rotational part of the
% homo... |
github | brennanyama/robotx-master | mdl_offset3.m | .m | robotx-master/pathplanning/Version_02/robot/mdl_offset3.m | 2,060 | utf_8 | d17ad0e5443a09e79f4c6b7b8fd110a6 | %MDL_OFFSET3 A minimalistic 3DOF robot arm with shoulder offset
%
% MDL_OFFSET3 is a script that creates the workspace variable off3 which
% describes the kinematic characteristics of a simple arm manipulator with
% a shoulder offset, using standard DH conventions.
%
% Somewhat like a Puma arm without the wrist.
%
% Al... |
github | brennanyama/robotx-master | joy2tr.m | .m | robotx-master/pathplanning/Version_02/robot/joy2tr.m | 2,952 | utf_8 | b2e136e65e27f31077cc7186d73d7364 | %JOY2TR Update transform from joystick
%
% T = JOY2TR(T, OPTIONS) updates the SE(3) homogeneous transform (4x4)
% according to spatial velocities sourced from a connected joystick device.
%
% Options::
% 'delay',D Pause for D seconds after reading (default 0.1)
% 'scale',S A 2-vector which scales joystick trans... |
github | brennanyama/robotx-master | mdl_simple6.m | .m | robotx-master/pathplanning/Version_02/robot/mdl_simple6.m | 2,107 | utf_8 | 22386662c9cba61ebc63d2d24038c11d | %MDL_SIMPLE6 A minimalistic 6DOF robot arm
%
% MDL_SIMPLE6 is a script creates the workspace variable s6 which describes
% the kinematic characteristics of a simple arm manipulator with a
% spherical wrist and no shoulder offset, using standard DH conventions.
%
% Also define the workspace vectors:
% qz zero ... |
github | brennanyama/robotx-master | trot2.m | .m | robotx-master/pathplanning/Version_02/robot/trot2.m | 1,141 | utf_8 | a215ea330b7bb0dd561cb434e646f7df | %TROT2 SE2 rotation matrix
%
% T = TROT2(THETA) is a homogeneous transformation (3x3) representing a rotation
% of THETA radians.
%
% T = TROT2(THETA, 'deg') as above but THETA is in degrees.
%
% Notes::
% - Translational component is zero.
%
% See also ROT2, TRANSL2, TROTX, TROTY, TROTZ.
% Copyright (C) 1993-2015,... |
github | brennanyama/robotx-master | plotbotopt.m | .m | robotx-master/pathplanning/Version_02/robot/plotbotopt.m | 1,023 | utf_8 | c61412dc4aa24229d6301a2f70b2c86f | %PLOTBOTOPT Define default options for robot plotting
%
% A user provided function that returns a cell array of default
% plot options for the SerialLink.plot method.
%
% See also SerialLink.plot.
% Copyright (C) 1993-2015, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
%
% RTB is... |
github | brennanyama/robotx-master | trplot.m | .m | robotx-master/pathplanning/Version_02/robot/trplot.m | 10,794 | utf_8 | 096bb9b6cf6545ccae3d03b7acd389e8 | %TRPLOT Draw a coordinate frame
%
% TRPLOT(T, OPTIONS) draws a 3D coordinate frame represented by the homogeneous
% transform T (4x4).
%
% H = TRPLOT(T, OPTIONS) as above but returns a handle.
%
% TRPLOT(H, T) moves the coordinate frame described by the handle H to
% the pose T (4x4).
%
% TRPLOT(R, OPTIONS) as above b... |
github | brennanyama/robotx-master | rot2.m | .m | robotx-master/pathplanning/Version_02/robot/rot2.m | 1,185 | utf_8 | b1888c5b3e2422b572e949c4367fcf2a | %ROT2 SO(2) Rotation matrix
%
% R = ROT2(THETA) is an SO(2) rotation matrix representing a rotation of THETA
% radians.
%
% R = ROT2(THETA, 'deg') as above but THETA is in degrees.
%
% See also TROT2, ROTX, ROTY, ROTZ.
% Copyright (C) 1993-2015, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MA... |
github | brennanyama/robotx-master | trchain2.m | .m | robotx-master/pathplanning/Version_02/robot/trchain2.m | 3,095 | utf_8 | a264398704fdac955cc706c7d7095605 | %TRCHAIN2 Chain 2D transforms from string
%
% T = TRCHAIN2(S, Q) is a homogeneous transform (3x3) that results from
% compounding a number of elementary transformations defined by the string
% S. The string S comprises a number of tokens of the form X(ARG) where
% X is one of Tx, Ty or R. ARG is the name of a variabl... |
github | brennanyama/robotx-master | eul2r.m | .m | robotx-master/pathplanning/Version_02/robot/eul2r.m | 2,544 | utf_8 | f4d7696b20289da3514c6c54c0506598 | %EUL2R Convert Euler angles to rotation matrix
%
% R = EUL2R(PHI, THETA, PSI, OPTIONS) is an SO(2) orthonornal rotation
% matrix (3x3) equivalent to the specified Euler angles. These correspond
% to rotations about the Z, Y, Z axes respectively. If PHI, THETA, PSI are
% column vectors (Nx1) then they are assumed to re... |
github | brennanyama/robotx-master | tr2jac.m | .m | robotx-master/pathplanning/Version_02/robot/tr2jac.m | 1,188 | utf_8 | 1f9fcebd015bd0d7ab6e08c137ce13d5 | %TR2JAC Jacobian for differential motion
%
% J = TR2JAC(T) is a Jacobian matrix (6x6) that maps spatial velocity or
% differential motion from the world frame to the frame represented by
% the homogeneous transform T (4x4).
%
% See also WTRANS, TR2DELTA, DELTA2TR.
% Copyright (C) 1993-2015, by Peter I. Corke
%
% Th... |
github | brennanyama/robotx-master | jtraj.m | .m | robotx-master/pathplanning/Version_02/robot/jtraj.m | 2,917 | utf_8 | 4a34c6dcf3e493d6486dbb3454b55f35 | %JTRAJ Compute a joint space trajectory between two configurations
%
% [Q,QD,QDD] = JTRAJ(Q0, QF, M) is a joint space trajectory Q (MxN) where the joint
% coordinates vary from Q0 (1xN) to QF (1xN). A quintic (5th order) polynomial is used
% with default zero boundary conditions for velocity and acceleration.
% Tim... |
github | brennanyama/robotx-master | rotz.m | .m | robotx-master/pathplanning/Version_02/robot/rotz.m | 1,235 | utf_8 | 27076caec3b0102aa9889f55255d9c31 | %ROTZ Rotation about Z axis
%
% R = ROTZ(THETA) is an SO(3) rotation matrix (3x3) representing a rotation of THETA
% radians about the z-axis.
%
% R = ROTZ(THETA, 'deg') as above but THETA is in degrees.
%
% See also ROTX, ROTY, ANGVEC2R, ROT2.
% Copyright (C) 1993-2015, by Peter I. Corke
%
% This file is part of T... |
github | brennanyama/robotx-master | angvec2tr.m | .m | robotx-master/pathplanning/Version_02/robot/angvec2tr.m | 1,225 | utf_8 | 751cedce32d68c1715714b814022c35f | %ANGVEC2TR Convert angle and vector orientation to a homogeneous transform
%
% T = ANGVEC2TR(THETA, V) is a homogeneous transform matrix (4x4) equivalent to a
% rotation of THETA about the vector V.
%
% Note::
% - The translational part is zero.
%
% See also EUL2TR, RPY2TR, ANGVEC2R, TR2ANGVEC.
% Copyright (C) 1993-... |
github | brennanyama/robotx-master | mdl_irb140.m | .m | robotx-master/pathplanning/Version_02/robot/mdl_irb140.m | 2,651 | utf_8 | b995561d1b3d52ed02775baaf99b7e8d | %MDL_IRB140 Create model of ABB IRB 140 manipulator
%
% MDL_IRB140 is a script that creates the workspace variable robot which
% describes the kinematic characteristics of an ABB IRB 140 manipulator
% using standard DH conventions.
%
% Also define the workspace vectors:
% qz zero joint angle configuration
% ... |
github | brennanyama/robotx-master | tpoly.m | .m | robotx-master/pathplanning/Version_02/robot/tpoly.m | 3,768 | utf_8 | 9f2a025cf958db23988ab08f58f652bc | %TPOLY Generate scalar polynomial trajectory
%
% [S,SD,SDD] = TPOLY(S0, SF, M) is a scalar trajectory (Mx1) that varies
% smoothly from S0 to SF in M steps using a quintic (5th order) polynomial.
% Velocity and acceleration can be optionally returned as SD (Mx1) and SDD (Mx1).
%
% TPOLY(S0, SF, M) as above but plots S... |
github | brennanyama/robotx-master | rpy2tr.m | .m | robotx-master/pathplanning/Version_02/robot/rpy2tr.m | 2,136 | utf_8 | 655bc207ec6fef0154a873dbf9a9ed3a | %RPY2TR Roll-pitch-yaw angles to homogeneous transform
%
% T = RPY2TR(ROLL, PITCH, YAW, OPTIONS) is an SE(3) homogeneous
% transformation matrix (4x4) equivalent to the specified roll, pitch, yaw
% angles angles. These correspond to rotations about the X, Y, Z axes
% respectively. If ROLL, PITCH, YAW are column vectors... |
github | brennanyama/robotx-master | mdl_jaco.m | .m | robotx-master/pathplanning/Version_02/robot/mdl_jaco.m | 2,905 | utf_8 | 6ba196892446392431417414c1538cda | %MDL_JACO Create model of Kinova Jaco manipulator
%
% MDL_JACO is a script that creates the workspace variable jaco which
% describes the kinematic characteristics of a Kinova Jaco manipulator
% using standard DH conventions.
%
% Also define the workspace vectors:
% qz zero joint angle configuration
% qr ... |
github | brennanyama/robotx-master | mdl_coil.m | .m | robotx-master/pathplanning/Version_02/robot/mdl_coil.m | 2,088 | utf_8 | bf84aaebc15c6eda46cea38ecdc4ea84 | %MDL_COIL Create model of a coil manipulator
%
% MDL_COIL creates the workspace variable coil which describes the
% kinematic characteristics of a serial link manipulator with 50 joints
% that folds into a helix shape.
%
% MDL_BALL(N) as above but creates a manipulator with N joints.
%
% Also defines the workspace vect... |
github | brennanyama/robotx-master | trinterp.m | .m | robotx-master/pathplanning/Version_02/robot/trinterp.m | 2,275 | utf_8 | 6f08db585584a93ac7bfddd00931fbf7 | %TRINTERP Interpolate homogeneous transformations
%
% T = TRINTERP(T0, T1, S) is a homogeneous transform (4x4) interpolated
% between T0 when S=0 and T1 when S=1. T0 and T1 are both homogeneous
% transforms (4x4). Rotation is interpolated using quaternion spherical
% linear interpolation (slerp). If S (Nx1) then T (... |
github | brennanyama/robotx-master | se3.m | .m | robotx-master/pathplanning/Version_02/robot/se3.m | 1,090 | utf_8 | 2c3e2b943539eeece34662380defd5c8 | %SE3 Lift SE(2) transform to SE(3)
%
% T3 = SE3(T2) returns a homogeneous transform (4x4) that represents
% the same X,Y translation and Z rotation as does T2 (3x3).
%
% See also SE2, TRANSL, ROTX.
% Copyright (C) 1993-2015, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
%
% RTB is... |
github | brennanyama/robotx-master | oa2r.m | .m | robotx-master/pathplanning/Version_02/robot/oa2r.m | 1,584 | utf_8 | 8a251ebacad7fd6049a621b739b753e8 | %OA2R Convert orientation and approach vectors to rotation matrix
%
% R = OA2R(O, A) is an SO(3) rotation matrix (3x3) for the specified
% orientation and approach vectors (3x1) formed from 3 vectors such that R
% = [N O A] and N = O x A.
%
% Notes::
% - The submatrix is guaranteed to be orthonormal so long as O and A ... |
github | brennanyama/robotx-master | roty.m | .m | robotx-master/pathplanning/Version_02/robot/roty.m | 1,228 | utf_8 | 74c9979c7e122bea54ee85d3b9b3ea58 | %ROTY Rotation about Y axis
%
% R = ROTY(THETA) is an SO(3) rotation matrix (3x3) representing a rotation of THETA
% radians about the y-axis.
%
% R = ROTY(THETA, 'deg') as above but THETA is in degrees.
%
% See also ROTX, ROTZ, ANGVEC2R, ROT2.
% Copyright (C) 1993-2015, by Peter I. Corke
%
% This file is part of T... |
github | brennanyama/robotx-master | mstraj.m | .m | robotx-master/pathplanning/Version_02/robot/mstraj.m | 6,851 | utf_8 | 36a39b1fe02e657eb4651b643f2a0c89 | %MSTRAJ Multi-segment multi-axis trajectory
%
% TRAJ = MSTRAJ(P, QDMAX, TSEG, Q0, DT, TACC, OPTIONS) is a trajectory
% (KxN) for N axes moving simultaneously through M segment. Each segment
% is linear motion and polynomial blends connect the segments. The axes
% start at Q0 (1xN) and pass through M-1 via points defi... |
github | brennanyama/robotx-master | eul2jac.m | .m | robotx-master/pathplanning/Version_02/robot/eul2jac.m | 1,545 | utf_8 | 9d0275ce4c2d09f3eb34c3041f9262f2 | %EUL2JAC Euler angle rate Jacobian
%
% J = EUL2JAC(EUL) is a Jacobian matrix (3x3) that maps Euler angle rates to
% angular velocity at the operating point EUL=[PHI, THETA, PSI].
%
% J = EUL2JAC(PHI, THETA, PSI) as above but the Euler angles are passed
% as separate arguments.
%
% Notes::
% - Used in the creation of ... |
github | brennanyama/robotx-master | trscale.m | .m | robotx-master/pathplanning/Version_02/robot/trscale.m | 1,272 | utf_8 | 09b12231a27cfeb9472653ac1ffb5b3f | %TRSCALE Homogeneous transformation for pure scale
%
% T = TRSCALE(S) is a homogeneous transform (4x4) corresponding to a pure
% scale change. If S is a scalar the same scale factor is used for x,y,z,
% else it can be a 3-vector specifying scale in the x-, y- and
% z-directions.
%
% Copyright (C) 1993-2015, by Peter... |
github | brennanyama/robotx-master | distancexform.m | .m | robotx-master/pathplanning/Version_02/robot/distancexform.m | 3,167 | utf_8 | 862cea63e935bbd3e52e620cceac14a2 | %DISTANCEXFORM Distance transform of occupancy grid
%
% D = DISTANCEXFORM(WORLD, GOAL) is the distance transform of the occupancy
% grid WORLD with respect to the specified goal point GOAL = [X,Y]. The
% cells of the grid have values of 0 for free space and 1 for obstacle.
%
% D = DISTANCEXFORM(WORLD, GOAL, METRIC) a... |
github | brennanyama/robotx-master | eul2tr.m | .m | robotx-master/pathplanning/Version_02/robot/eul2tr.m | 1,894 | utf_8 | 9c4368bef610e91a51cb710fbb8f51c7 | %EUL2TR Convert Euler angles to homogeneous transform
%
% T = EUL2TR(PHI, THETA, PSI, OPTIONS) is a SE(3) homogeneous
% transformation matrix (4x4) equivalent to the specified Euler angles.
% These correspond to rotations about the Z, Y, Z axes respectively. If
% PHI, THETA, PSI are column vectors (Nx1) then they are a... |
github | brennanyama/robotx-master | unit.m | .m | robotx-master/pathplanning/Version_02/robot/unit.m | 1,054 | utf_8 | 59f21e9d63ebff6e1e143406c52007f8 | %UNIT Unitize a vector
%
% VN = UNIT(V) is a unit-vector parallel to V.
%
% Note::
% - Reports error for the case where norm(V) is zero.
% Copyright (C) 1993-2015, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
%
% RTB is free software: you can redistribute it and/or modify
% it u... |
github | brennanyama/robotx-master | mdl_mico.m | .m | robotx-master/pathplanning/Version_02/robot/mdl_mico.m | 3,566 | utf_8 | 39e60de38e6afba9a15d1b17883ec8b0 | %MDL_MICO Create model of Kinova Mico manipulator
%
% MDL_MICO is a script that creates the workspace variable mico which
% describes the kinematic characteristics of a Kinova Mico manipulator
% using standard DH conventions.
%
% Also define the workspace vectors:
% qz zero joint angle configuration
% qr ... |
github | brennanyama/robotx-master | t2r.m | .m | robotx-master/pathplanning/Version_02/robot/t2r.m | 1,743 | utf_8 | fca3cbbb5f3f6491556b78aad1109120 | %T2R Rotational submatrix
%
% R = T2R(T) is the orthonormal rotation matrix component of homogeneous
% transformation matrix T. Works for T in SE(2) or SE(3)
% - If T is 4x4, then R is 3x3.
% - If T is 3x3, then R is 2x2.
%
% Notes::
% - For a homogeneous transform sequence returns a rotation matrix sequence
% - The ... |
github | brennanyama/robotx-master | makemap.m | .m | robotx-master/pathplanning/Version_02/robot/makemap.m | 5,561 | utf_8 | 2e7868da6013b40067d09a454fb0564d | %MAKEMAP Make an occupancy map
%
% map = makemap(N) is an occupancy grid map (NxN) created by a simple
% interactive editor. The map is initially unoccupied and obstacles can
% be added using geometric primitives.
%
% map = makemap() as above but N=128.
%
% map = makemap(map0) as above but the map is initialized from... |
github | brennanyama/robotx-master | trnorm.m | .m | robotx-master/pathplanning/Version_02/robot/trnorm.m | 2,163 | utf_8 | d29e4932b9408f49f83ebc34effa0695 | %TRNORM Normalize a rotation matrix
%
% RN = TRNORM(R) is guaranteed to be a proper orthogonal matrix rotation
% matrix (3x3) which is "close" to the non-orthogonal matrix R (3x3). If R
% = [N,O,A] the O and A vectors are made unit length and the normal vector
% is formed from N = O x A, and then we ensure that O and A... |
github | brennanyama/robotx-master | tr2rt.m | .m | robotx-master/pathplanning/Version_02/robot/tr2rt.m | 1,749 | utf_8 | 2552fdeceed416b1145bb3adf21ee685 | %TR2RT Convert homogeneous transform to rotation and translation
%
% [R,t] = TR2RT(TR) splits a homogeneous transformation matrix (NxN) into an
% orthonormal rotation matrix R (MxM) and a translation vector t (Mx1), where
% N=M+1.
%
% Works for TR in SE(2) or SE(3)
% - If TR is 4x4, then R is 3x3 and T is 3x1.
% - ... |
github | brennanyama/robotx-master | vex.m | .m | robotx-master/pathplanning/Version_02/robot/vex.m | 1,456 | utf_8 | 2b18d941c21d3cad27d744558fc9d656 | %VEX Convert skew-symmetric matrix to vector
%
% V = VEX(S) is the vector (3x1) which has the skew-symmetric matrix S (3x3)
%
% | 0 -vz vy|
% | vz 0 -vx|
% |-vy vx 0 |
%
% Notes::
% - This is the inverse of the function SKEW().
% - No checking is done to ensure that the matrix is ... |
github | brennanyama/robotx-master | trplot2.m | .m | robotx-master/pathplanning/Version_02/robot/trplot2.m | 5,764 | utf_8 | 8a9b045e8210a0465a20dc74dfc4f82d | %TRPLOT2 Plot a planar transformation
%
% TRPLOT2(T, OPTIONS) draws a 2D coordinate frame represented by the SE(2)
% homogeneous transform T (3x3).
%
% H = TRPLOT2(T, OPTIONS) as above but returns a handle.
%
% TRPLOT2(H, T) moves the coordinate frame described by the handle H to
% the SE(2) pose T (3x3).
%
% Options::... |
github | brennanyama/robotx-master | delta2tr.m | .m | robotx-master/pathplanning/Version_02/robot/delta2tr.m | 1,221 | utf_8 | a6fa6a387011e9dee1f706e2232e1b13 | %DELTA2TR Convert differential motion to a homogeneous transform
%
% T = DELTA2TR(D) is a homogeneous transform (4x4) representing differential
% translation and rotation. The vector D=(dx, dy, dz, dRx, dRy, dRz)
% represents an infinitessimal motion, and is an approximation to the spatial
% velocity multiplied by t... |
github | brennanyama/robotx-master | trprint.m | .m | robotx-master/pathplanning/Version_02/robot/trprint.m | 4,174 | utf_8 | bd0543184962f74800732aedde450c4e | %TRPRINT Compact display of homogeneous transformation
%
% TRPRINT(T, OPTIONS) displays the homogoneous transform in a compact
% single-line format. If T is a homogeneous transform sequence then each
% element is printed on a separate line.
%
% S = TRPRINT(T, OPTIONS) as above but returns the string.
%
% TRPRINT T ... |
github | brennanyama/robotx-master | ctraj.m | .m | robotx-master/pathplanning/Version_02/robot/ctraj.m | 2,189 | utf_8 | f02f9befdeb8c178b1342e402bf24069 | %CTRAJ Cartesian trajectory between two poses
%
% TC = CTRAJ(T0, T1, N) is a Cartesian trajectory (4x4xN) from pose T0 to T1
% with N points that follow a trapezoidal velocity profile along the path.
% The Cartesian trajectory is a homogeneous transform sequence and the last
% subscript being the point index, that is,... |
github | brennanyama/robotx-master | tr2eul.m | .m | robotx-master/pathplanning/Version_02/robot/tr2eul.m | 2,674 | utf_8 | 7dfd057d03558f2ad5f572df41899621 | %TR2EUL Convert homogeneous transform to Euler angles
%
% EUL = TR2EUL(T, OPTIONS) are the ZYZ Euler angles (1x3) corresponding to
% the rotational part of a homogeneous transform T (4x4). The 3 angles
% EUL=[PHI,THETA,PSI] correspond to sequential rotations about the Z, Y and
% Z axes respectively.
%
% EUL = TR2EUL(R,... |
github | brennanyama/robotx-master | rtbdemo.m | .m | robotx-master/pathplanning/Version_02/robot/rtbdemo.m | 6,673 | utf_8 | f2c4d1a9dee0103e0571b4bac6af90fb | %RTBDEMO Robot toolbox demonstrations
%
% rtbdemo displays a menu of toolbox demonstration scripts that illustrate:
% - homogeneous transformations
% - trajectories
% - forward kinematics
% - inverse kinematics
% - robot animation
% - inverse dynamics
% - forward dynamics
%
% rtbdemo(T) as above but wait... |
github | brennanyama/robotx-master | tripleangle.m | .m | robotx-master/pathplanning/Version_02/robot/tripleangle.m | 11,547 | utf_8 | 5847479b00aeaede86346357279aea26 |
% Copyright (C) 1993-2015, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
%
% RTB is free software: you can redistribute it and/or modify
% it under the terms of the GNU Lesser General Public License as published by
% the Free Software Foundation, either version 3 of the License, or... |
github | brennanyama/robotx-master | tr2rpy.m | .m | robotx-master/pathplanning/Version_02/robot/tr2rpy.m | 3,205 | utf_8 | 28a584aec115635fc227837397991531 | %TR2RPY Convert a homogeneous transform to roll-pitch-yaw angles
%
% RPY = TR2RPY(T, options) are the roll-pitch-yaw angles (1x3)
% corresponding to the rotation part of a homogeneous transform T. The 3
% angles RPY=[R,P,Y] correspond to sequential rotations about the X, Y and
% Z axes respectively.
%
% RPY = TR2RPY(R,... |
github | brennanyama/robotx-master | plot_vehicle.m | .m | robotx-master/pathplanning/Version_02/robot/plot_vehicle.m | 1,951 | utf_8 | bf3189092a1f0bda401ce1adeb08cea4 | %plot_vehicle Draw ground vehicle pose
%
% PLOT_VEHICLE(X,OPTIONS) draws a representation of ground robot as an
% oriented triangle with pose X (1x3) = [x,y,theta] or X (3x3) as an SE(2)
% homogeneous transform.
%
% Options::
% 'scale',S Draw vehicle with length S x maximum axis dimension (default
% 1/6... |
github | brennanyama/robotx-master | rpy2r.m | .m | robotx-master/pathplanning/Version_02/robot/rpy2r.m | 3,214 | utf_8 | f819765e8d3eed19e1473ba9b4098c90 | %RPY2R Roll-pitch-yaw angles to rotation matrix
%
% R = RPY2R(ROLL, PITCH, YAW, OPTIONS) is an SO(3) orthonornal rotation
% matrix (3x3) equivalent to the specified roll, pitch, yaw angles angles.
% These correspond to rotations about the X, Y, Z axes respectively. If
% ROLL, PITCH, YAW are column vectors (Nx1) then th... |
github | brennanyama/robotx-master | transl2.m | .m | robotx-master/pathplanning/Version_02/robot/transl2.m | 2,470 | utf_8 | d22f3cb3d176b5675bd531f23cf789f0 | %TRANSL2 Create or unpack an SE2 translational transform
%
% Create a translational transformation matrix::
%
% T = TRANSL2(X, Y) is an SE2 homogeneous transform (3x3) representing a
% pure translation.
%
% T = TRANSL2(P) is a homogeneous transform representing a translation or
% point P=[X,Y]. If P (Mx2) it represents... |
github | brennanyama/robotx-master | trotx.m | .m | robotx-master/pathplanning/Version_02/robot/trotx.m | 1,155 | utf_8 | ab094b8fdd02eaf5740e4f04dc8fd9b3 | %TROTX Rotation about X axis
%
% T = TROTX(THETA) is a homogeneous transformation (4x4) representing a rotation
% of THETA radians about the x-axis.
%
% T = TROTX(THETA, 'deg') as above but THETA is in degrees.
%
% Notes::
% - Translational component is zero.
%
% See also ROTX, TROTY, TROTZ, TROT2.
% Copyright (C) ... |
github | brennanyama/robotx-master | rt2tr.m | .m | robotx-master/pathplanning/Version_02/robot/rt2tr.m | 1,848 | utf_8 | 308795dd5b9e9002f63f191c922dd158 | %RT2TR Convert rotation and translation to homogeneous transform
%
% TR = RT2TR(R, t) is a homogeneous transformation matrix (MxM) formed from an
% orthonormal rotation matrix R (NxN) and a translation vector t (Nx1) where
% M=N+1.
%
% For a sequence R (NxNxK) and t (NxK) results in a transform sequence (MxMxK).
%
% N... |
github | brennanyama/robotx-master | angvec2r.m | .m | robotx-master/pathplanning/Version_02/robot/angvec2r.m | 1,449 | utf_8 | 88addb45baa17d91d8330cde805e577c | %ANGVEC2R Convert angle and vector orientation to a rotation matrix
%
% R = ANGVEC2R(THETA, V) is an orthonormal rotation matrix (3x3)
% equivalent to a rotation of THETA about the vector V.
%
% See also eul2r, rpy2r, tr2angvec.
% Copyright (C) 1993-2015, by Peter I. Corke
%
% This file is part of The Robotics Toolb... |
github | brennanyama/robotx-master | Link.m | .m | robotx-master/pathplanning/Version_02/robot/Link.m | 34,036 | utf_8 | 043ca96de39cd69a53163dde7a00200b | %LINK Robot manipulator Link class
%
% A Link object holds all information related to a robot link such as
% kinematics parameters, rigid-body inertial parameters, motor and
% transmission parameters.
%
% Methods::
% A link transform matrix
% RP joint type: 'R' or 'P'
% friction friction ... |
github | brennanyama/robotx-master | rpy2jac.m | .m | robotx-master/pathplanning/Version_02/robot/rpy2jac.m | 1,517 | utf_8 | 429565e45d5194414ac5c58de0598aa7 | %RPY2JAC Jacobian from RPY angle rates to angular velocity
%
% J = RPY2JAC(EUL) is a Jacobian matrix (3x3) that maps roll-pitch-yaw angle
% rates to angular velocity at the operating point RPY=[R,P,Y].
%
% J = RPY2JAC(R, P, Y) as above but the roll-pitch-yaw angles are passed
% as separate arguments.
%
% Notes::
% - U... |
github | brennanyama/robotx-master | mdl_hyper2d.m | .m | robotx-master/pathplanning/Version_02/robot/mdl_hyper2d.m | 2,275 | utf_8 | 7f913f702761ee8895c9dfbd9ef2372b | %MDL_HYPER2D Create model of a hyper redundant planar manipulator
%
% MDL_HYPER2D creates the workspace variable h2d which describes the
% kinematic characteristics of a serial link manipulator with 10 joints
% which at zero angles is a straight line in the XY plane.
%
% MDL_HYPER2D(N) as above but creates a manipulato... |
github | brennanyama/robotx-master | se2.m | .m | robotx-master/pathplanning/Version_02/robot/se2.m | 1,798 | utf_8 | e94454d6ffe48c6fa86b481441065f7b | %SE2 Create planar translation and rotation transformation
%
% T = SE2(X, Y, THETA) is an SE(2) homogeneous transformation (3x3)
% representing translation X and Y, and rotation THETA in the plane.
%
% T = SE2(XY) as above where XY=[X,Y] and rotation is zero
%
% T = SE2(XY, THETA) as above where XY=[X,Y]
%
% T = SE2(X... |
github | brennanyama/robotx-master | mdl_ball.m | .m | robotx-master/pathplanning/Version_02/robot/mdl_ball.m | 2,372 | utf_8 | 011de05485b251ad15e6bc5f8529bc4a | %MDL_BALL Create model of a ball manipulator
%
% MDL_BALL creates the workspace variable ball which describes the
% kinematic characteristics of a serial link manipulator with 50 joints
% that folds into a ball shape.
%
% MDL_BALL(N) as above but creates a manipulator with N joints.
%
% Also define the workspace vector... |
github | brennanyama/robotx-master | trchain.m | .m | robotx-master/pathplanning/Version_02/robot/trchain.m | 3,383 | utf_8 | c7025e00cae908193a93380450ea3de1 | %TRCHAIN Chain 3D transforms from string
%
% T = TRCHAIN(S, Q) is a homogeneous transform (4x4) that results from
% compounding a number of elementary transformations defined by the string
% S. The string S comprises a number of tokens of the form X(ARG) where
% X is one of Tx, Ty, Tz, Rx, Ry, or Rz. ARG is the name ... |
github | brennanyama/robotx-master | genslblockinvdyn.m | .m | robotx-master/pathplanning/Version_02/robot/@CodeGenerator/genslblockinvdyn.m | 5,582 | utf_8 | 55d97bc4291d27f7e92fb89cacf47ce7 | %CODEGENERATOR.GENSLBLOCKINVDYN Generate Simulink block for inverse dynamics
%
% cGen.genslblockinvdyn() generates a robot-specific Simulink block to compute
% inverse dynamics.
%
% Notes::
% - Is called by CodeGenerator.geninvdyn if cGen has active flag genslblock
% - The generated Simulink block is composed of previo... |
github | brennanyama/robotx-master | genccodeinertia.m | .m | robotx-master/pathplanning/Version_02/robot/@CodeGenerator/genccodeinertia.m | 7,945 | utf_8 | a37320db4462bc7a5796bdc8597a638a | %CODEGENERATOR.GENCCODEINERTIA Generate C-function for robot inertia matrix
%
% cGen.genccodeinertia() generates robot-specific C-functions to compute
% the robot inertia matrix.
%
% Notes::
% - Is called by CodeGenerator.geninertia if cGen has active flag genccode or
% genmex.
% - The generated .c and .h files are g... |
github | brennanyama/robotx-master | genccodecoriolis.m | .m | robotx-master/pathplanning/Version_02/robot/@CodeGenerator/genccodecoriolis.m | 8,152 | utf_8 | 23e197de82af71140471c55fca0505e5 | %CODEGENERATOR.GENCCODECORIOLIS Generate C-function for robot inertia matrix
%
% cGen.genccodecoriolis() generates robot-specific C-functions to compute
% the robot coriolis matrix.
%
% Notes::
% - Is called by CodeGenerator.gencoriolis if cGen has active flag genccode or
% genmex.
% - The .c and .h files are generat... |
github | brennanyama/robotx-master | genmexinvdyn.m | .m | robotx-master/pathplanning/Version_02/robot/@CodeGenerator/genmexinvdyn.m | 4,871 | utf_8 | b8c13f953d4844577fdfc2a285414ac6 | %CODEGENERATOR.GENMEXINVDYN Generate C-MEX-function for inverse dynamics
%
% cGen.genmexinvdyn() generates a robot-specific MEX-function to compute
% the inverse dynamics.
%
% Notes::
% - Is called by CodeGenerator.geninvdyn if cGen has active flag genmex.
% - The MEX file uses the .c and .h files generated in the dir... |
github | brennanyama/robotx-master | genmexfriction.m | .m | robotx-master/pathplanning/Version_02/robot/@CodeGenerator/genmexfriction.m | 3,631 | utf_8 | cd09b93ad64d2da5dd462392972ed5ff | %CODEGENERATOR.GENMEXFRICTION Generate C-MEX-function for joint friction
%
% cGen.genmexfriction() generates a robot-specific MEX-function to compute
% the vector of joint friction.
%
% Notes::
% - Is called by CodeGenerator.genfriction if cGen has active flag genmex
% - The MEX file uses the .c and .h files generated ... |
github | brennanyama/robotx-master | genmexfdyn.m | .m | robotx-master/pathplanning/Version_02/robot/@CodeGenerator/genmexfdyn.m | 5,058 | utf_8 | a8126f989add87dd2762a6a9981ad071 | %CODEGENERATOR.GENMEXFDYN Generate C-MEX-function for forward dynamics
%
% cGen.genmexfdyn() generates a robot-specific MEX-function to compute
% the forward dynamics.
%
% Notes::
% - Is called by CodeGenerator.genfdyn if cGen has active flag genmex
% - The MEX file uses the .c and .h files generated in the directory ... |
github | brennanyama/robotx-master | genslblockcoriolis.m | .m | robotx-master/pathplanning/Version_02/robot/@CodeGenerator/genslblockcoriolis.m | 6,169 | utf_8 | 7f9e8a264482e5e3667cefef7a955115 | %CODEGENERATOR.GENSLBLOCKCORIOLIS Generate Simulink block for Coriolis matrix
%
% cGen.genslblockcoriolis() generates a robot-specific Simulink block to compute
% Coriolis/centripetal matrix.
%
% Notes::
% - Is called by CodeGenerator.gencoriolis if cGen has active flag genslblock
% - The Coriolis matrix is stored row ... |
github | brennanyama/robotx-master | geninvdyn.m | .m | robotx-master/pathplanning/Version_02/robot/@CodeGenerator/geninvdyn.m | 4,824 | utf_8 | 5aaa6856cf0f5c6adc1deaa935157444 | %CODEGENERATOR.GENINVDYN Generate code for inverse dynamics
%
% TAU = cGen.geninvdyn() is the symbolic vector (1xN) of joint forces/torques.
%
% Notes::
% - The inverse dynamics vector is composed of the previously computed inertia matrix
% coriolis matrix, vector of gravitational load and joint friction for speedup.... |
github | brennanyama/robotx-master | genfkine.m | .m | robotx-master/pathplanning/Version_02/robot/@CodeGenerator/genfkine.m | 3,415 | utf_8 | bae5d895cc69d70fd57cb956dcadf969 | %CODEGENERATOR.GENFKINE Generate code for forward kinematics
%
% T = cGen.genfkine() generates a symbolic homogeneous transform matrix (4x4) representing
% the pose of the robot end-effector in terms of the symbolic joint coordinates q1, q2, ...
%
% [T, ALLT] = cGen.genfkine() as above but also generates symbolic homog... |
github | brennanyama/robotx-master | genmfunjacobian.m | .m | robotx-master/pathplanning/Version_02/robot/@CodeGenerator/genmfunjacobian.m | 5,936 | utf_8 | f7ea3fce7add9447ef9eae658320ddca | %CODEGENERATOR.GENMFUNJACOBIAN Generate M-functions for robot Jacobian
%
% cGen.genmfunjacobian() generates a robot-specific M-function to compute
% robot Jacobian.
%
% Notes::
% - Is called by CodeGenerator.genjacobian, if cGen has active flag genmfun
% - Access to generated function is provided via subclass of Serial... |
github | brennanyama/robotx-master | genslblockgravload.m | .m | robotx-master/pathplanning/Version_02/robot/@CodeGenerator/genslblockgravload.m | 2,833 | utf_8 | 4f0e80b6ee994a0c137818dd25a3cef5 | %CODEGENERATOR.GENSLBLOCKGRAVLOAD Generate Simulink block for gravitational load
%
% cGen.genslblockgravload() generates a robot-specific Simulink block to compute
% gravitational load.
%
% Notes::
% - Is called by CodeGenerator.gengravload if cGen has active flag genslblock
% - The Simulink blocks are generated and st... |
github | brennanyama/robotx-master | gengravload.m | .m | robotx-master/pathplanning/Version_02/robot/@CodeGenerator/gengravload.m | 2,830 | utf_8 | fe50ac5249f7927221e93df2e2e98446 | %CODEGENERATOR.GENGRAVLOAD Generate code for gravitational load
%
% G = cGen.gengravload() is a symbolic vector (1xN) of joint load
% forces/torques due to gravity.
%
% Notes::
% - Side effects of execution depends on the cGen flags:
% - saveresult: the symbolic expressions are saved to
% disk in the directory... |
github | brennanyama/robotx-master | genslblockfriction.m | .m | robotx-master/pathplanning/Version_02/robot/@CodeGenerator/genslblockfriction.m | 2,873 | utf_8 | cbef4d4ee736c303951e09e8364b06cf | %CODEGENERATOR.GENSLBLOCKFRICTION Generate Simulink block for joint friction
%
% cGen.genslblockfriction() generates a robot-specific Simulink block to compute
% the joint friction model.
%
% Notes::
% - Is called by CodeGenerator.genfriction if cGen has active flag genslblock
% - The Simulink blocks are generated and ... |
github | brennanyama/robotx-master | genmfunfriction.m | .m | robotx-master/pathplanning/Version_02/robot/@CodeGenerator/genmfunfriction.m | 3,870 | utf_8 | 483b4ebadd5aa86efaa417b3dcb0f39f | %CODEGENERATOR.GENMFUNFRICTION Generate M-function for joint friction
%
% cGen.genmfunfriction() generates a robot-specific M-function to compute
% joint friction.
%
% Notes::
% - Is called only if cGen has active flag genmfun
% - Access to generated function is provided via subclass of SerialLink
% whose class defi... |
github | brennanyama/robotx-master | genmexcoriolis.m | .m | robotx-master/pathplanning/Version_02/robot/@CodeGenerator/genmexcoriolis.m | 6,095 | utf_8 | fa26136d0d4b8176e0ac8ed7db6aa590 | %CODEGENERATION.GENMEXCORIOLIS Generate C-MEX-function for robot coriolis matrix
%
% cGen.genmexcoriolis() generates robot-specific MEX-functions to compute
% robot coriolis matrix.
%
% Notes::
% - Is called by CodeGenerator.gencoriolis if cGen has active flag genmex
% - The MEX file uses the .c and .h files generated ... |
github | brennanyama/robotx-master | genmfungravload.m | .m | robotx-master/pathplanning/Version_02/robot/@CodeGenerator/genmfungravload.m | 3,993 | utf_8 | 4ce99de9bfcea74355489c07b0d1fdc3 | %CODEGENERATOR.GENMFUNGRAVLOAD Generate M-functions for gravitational load
%
% cGen.genmfungravload() generates a robot-specific M-function to compute
% gravitation load forces and torques.
%
% Notes::
% - Is called by CodeGenerator.gengravload if cGen has active flag genmfun
% - Access to generated function is provide... |
github | brennanyama/robotx-master | genslblockfdyn.m | .m | robotx-master/pathplanning/Version_02/robot/@CodeGenerator/genslblockfdyn.m | 6,206 | utf_8 | 4afeed4e478e5c3e8ab37b3831233d51 | %CODEGENERATOR.GENSLBLOCKFDYN Generate Simulink block for forward dynamics
%
% cGen.genslblockfdyn() generates a robot-specific Simulink block to compute
% forward dynamics.
%
% Notes::
% - Is called by CodeGenerator.genfdyn if cGen has active flag genslblock
% - The generated Simulink block is composed of previously g... |
github | brennanyama/robotx-master | genmexinertia.m | .m | robotx-master/pathplanning/Version_02/robot/@CodeGenerator/genmexinertia.m | 5,887 | utf_8 | e2f08bc0bc9879eb9e5a63f043ba86db | %CODEGENERATION.GENMEXINERTIA Generate C-MEX-function for robot inertia matrix
%
% cGen.genmexinertia() generates robot-specific MEX-functions to compute
% robot inertia matrix.
%
% Notes::
% - Is called by CodeGenerator.geninertia if cGen has active flag genmex
% - The MEX file uses the .c and .h files generated in th... |
github | brennanyama/robotx-master | genjacobian.m | .m | robotx-master/pathplanning/Version_02/robot/@CodeGenerator/genjacobian.m | 3,011 | utf_8 | 2c88554776debe014cbeaf550063c884 | %CODEGENERATOR.GENJACOBIAN Generate code for robot Jacobians
%
% J0 = cGen.genjacobian() is the symbolic expression for the Jacobian
% matrix (6xN) expressed in the base coordinate frame.
%
% [J0, Jn] = cGen.genjacobian() as above but also returns the symbolic
% expression for the Jacobian matrix (6xN) expressed in t... |
github | brennanyama/robotx-master | genmexjacobian.m | .m | robotx-master/pathplanning/Version_02/robot/@CodeGenerator/genmexjacobian.m | 5,684 | utf_8 | d1b252fe876d890e47ae2e5179803333 | %CODEGENERATOR.GENMEXJACOBIAN Generate C-MEX-function for the robot Jacobians
%
% cGen.genmexjacobian() generates robot-specific MEX-function to compute
% the robot Jacobian with respect to the base as well as the end effector
% frame.
%
% Notes::
% - Is called by CodeGenerator.genjacobian if cGen has active flag genme... |
github | brennanyama/robotx-master | genfdyn.m | .m | robotx-master/pathplanning/Version_02/robot/@CodeGenerator/genfdyn.m | 4,789 | utf_8 | f872b6f6f91a5fb448440b2ad2af4180 | %CODEGENERATOR.GENFDYN Generate code for forward dynamics
%
% Iqdd = cGen.genfdyn() is a symbolic vector (1xN) of joint inertial
% reaction forces/torques.
%
% Notes::
% - Side effects of execution depends on the cGen flags:
% - saveresult: the symbolic expressions are saved to
% disk in the directory specified ... |
github | brennanyama/robotx-master | gencoriolis.m | .m | robotx-master/pathplanning/Version_02/robot/@CodeGenerator/gencoriolis.m | 3,175 | utf_8 | 41b9cc8234da1c4f2dcaed02a9521b3a | %CODEGENERATOR.GENCORIOLIS Generate code for Coriolis force
%
% coriolis = cGen.gencoriolis() is a symbolic matrix (NxN) of centrifugal and Coriolis
% forces/torques.
%
% Notes::
% - The Coriolis matrix is stored row by row to avoid memory issues.
% The generated code recombines these rows to output the full matrix.
... |
github | brennanyama/robotx-master | genccodefdyn.m | .m | robotx-master/pathplanning/Version_02/robot/@CodeGenerator/genccodefdyn.m | 8,172 | utf_8 | de331cdabd0be3c9c733cafcbbb8b477 | %CODEGENERATOR.GENCCODEFDYN Generate C-code for forward dynamics
%
% cGen.genccodeinvdyn() generates a robot-specific C-code to compute the
% forward dynamics.
%
% Notes::
% - Is called by CodeGenerator.genfdyn if cGen has active flag genccode or
% genmex.
% - The .c and .h files are generated in the directory specif... |
github | brennanyama/robotx-master | genmexgravload.m | .m | robotx-master/pathplanning/Version_02/robot/@CodeGenerator/genmexgravload.m | 3,724 | utf_8 | 28cbb496520e1883878aba998e74036d | %CODEGENERATOR.GENMEXGRAVLOAD Generate C-MEX-function for gravitational load
%
% cGen.genmexgravload() generates a robot-specific MEX-function to compute
% gravitation load forces and torques.
%
% Notes::
% - Is called by CodeGenerator.gengravload if cGen has active flag genmex
% - The MEX file uses the .c and .h file... |
github | brennanyama/robotx-master | genccodefriction.m | .m | robotx-master/pathplanning/Version_02/robot/@CodeGenerator/genccodefriction.m | 4,294 | utf_8 | e90fba70f2090e589ff807c1fda20645 | %CODEGENERATOR.GENCCODEFRICTION Generate C-code for the joint friction
%
% cGen.genccodefriction() generates a robot-specific C-function to compute
% vector of friction torques/forces.
%
% Notes::
% - Is called by CodeGenerator.genfriction if cGen has active flag genccode or
% genmex
% - The generated .c and .h files... |
github | brennanyama/robotx-master | logmsg.m | .m | robotx-master/pathplanning/Version_02/robot/@CodeGenerator/logmsg.m | 1,980 | utf_8 | 1a97bffbd25ca3014206637450f6fa09 | %CODEGENERATOR.LOGMSG Print CodeGenerator logs.
%
% count = CGen.logmsg( FORMAT, A, ...) is the number of characters written to the CGen.logfile.
% For the additional arguments see fprintf.
%
% Note::
% Matlab ships with a function for writing formatted strings into a text
% file or to the console (fprintf). The func... |
github | brennanyama/robotx-master | genmfuncoriolis.m | .m | robotx-master/pathplanning/Version_02/robot/@CodeGenerator/genmfuncoriolis.m | 6,849 | utf_8 | 9f13d69926edc9fd196125b13ff56412 | %CODEGENERATOR.GENMFUNCORIOLIS Generate M-functions for Coriolis matrix
%
% cGen.genmfuncoriolis() generates a robot-specific M-function to compute
% the Coriolis matrix.
%
% Notes::
% - Is called by CodeGenerator.gencoriolis if cGen has active flag genmfun
% - The Coriolis matrix is stored row by row to avoid memory i... |
github | brennanyama/robotx-master | genmfuninertia.m | .m | robotx-master/pathplanning/Version_02/robot/@CodeGenerator/genmfuninertia.m | 6,490 | utf_8 | e8b4d105c3f9e89115076710c39767cb | %CODEGENERATION.GENMFUNINERTIA Generate M-function for robot inertia matrix
%
% cGen.genmfuninertia() generates a robot-specific M-function to compute
% robot inertia matrix.
%
% Notes::
% - Is called by CodeGenerator.geninertia if cGen has active flag genmfun
% - The inertia matrix is stored row by row to avoid memory... |
Subsets and Splits
No community queries yet
The top public SQL queries from the community will appear here once available.