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github | nubot-nudt/nubot_ws-master | costfcn.m | .m | nubot_ws-master/src/nubot/omni_vision/calib_results/2/costfcn.m | 1,499 | utf_8 | e385ffbc9fd936691f2ebb840e09aef2 | %% @file
% computes the cost function for the self localization for a given set of optimization parameters
%
% usage: J = costfcn(turtle)
%
% @author DJH Bruijnen <d.j.h.bruijnen@tue.nl>
% @date 2006
%
% @param p - optimization parameters [double array, 1x7]
% @param fieldmap - grid with distance to the most nearby lin... |
github | nubot-nudt/nubot_ws-master | costfcn.m | .m | nubot_ws-master/src/nubot/omni_vision/calib_results/3/costfcn.m | 1,499 | utf_8 | e385ffbc9fd936691f2ebb840e09aef2 | %% @file
% computes the cost function for the self localization for a given set of optimization parameters
%
% usage: J = costfcn(turtle)
%
% @author DJH Bruijnen <d.j.h.bruijnen@tue.nl>
% @date 2006
%
% @param p - optimization parameters [double array, 1x7]
% @param fieldmap - grid with distance to the most nearby lin... |
github | nubot-nudt/nubot_ws-master | costfcn.m | .m | nubot_ws-master/src/nubot/omni_vision/calib_results/5/costfcn.m | 1,499 | utf_8 | e385ffbc9fd936691f2ebb840e09aef2 | %% @file
% computes the cost function for the self localization for a given set of optimization parameters
%
% usage: J = costfcn(turtle)
%
% @author DJH Bruijnen <d.j.h.bruijnen@tue.nl>
% @date 2006
%
% @param p - optimization parameters [double array, 1x7]
% @param fieldmap - grid with distance to the most nearby lin... |
github | nubot-nudt/nubot_ws-master | costfcn.m | .m | nubot_ws-master/src/nubot/omni_vision/calib_results/1/costfcn.m | 1,499 | utf_8 | e385ffbc9fd936691f2ebb840e09aef2 | %% @file
% computes the cost function for the self localization for a given set of optimization parameters
%
% usage: J = costfcn(turtle)
%
% @author DJH Bruijnen <d.j.h.bruijnen@tue.nl>
% @date 2006
%
% @param p - optimization parameters [double array, 1x7]
% @param fieldmap - grid with distance to the most nearby lin... |
github | kintzhao/rbpf-gmapping-master | Resample.m | .m | rbpf-gmapping-master/Resample.m | 993 | utf_8 | 9428b7575a32de3472781695c842bcf2 | %% Resampling function
function [x_new, q_new, idx] = Resample(x, q, resampling_strategy)
Ns = length(q); % Ns = number of particles
switch resampling_strategy
case 'multinomial_resampling'
with_replacement = true;
idx = randsample(1:Ns, Ns, with_replacement, q);
case 'syst... |
github | kintzhao/rbpf-gmapping-master | pHRIWARE.m | .m | rbpf-gmapping-master/rvctools/contrib/pHRIWARE/pHRIWARE.m | 4,150 | utf_8 | 9c4da75a1183eebe277967d66b15e143 | %pHRIWARE physical HRI worspace analysis, research and evaluation
%
% pHRIWARE (pron. 'freeware') provides tools to analyse, research and
% evaluate physical human-robot interactions. Many of these tools also
% requires the Robotics Toolbox for MATLAB(R) (RTB), developed by Peter
% Corke. This may be downloaded at www... |
github | kintzhao/rbpf-gmapping-master | h2fsu.m | .m | rbpf-gmapping-master/rvctools/contrib/pHRIWARE/Functions/h2fsu.m | 9,566 | utf_8 | a1f50edbf454e8d96dee46b5123c01bb | %H2FSU Convert hand data to forearm, swivel, and upper arm frames
%
% Returns the corresponding forearm, swivel and upper arm frame(s) for
% given hand frame(s) or point(s). If hand data is be given in a N-D
% array, the outputs will be of same shape. The swivel angle can be
% resolved using a number of methods (see I... |
github | kintzhao/rbpf-gmapping-master | gikine.m | .m | rbpf-gmapping-master/rvctools/contrib/pHRIWARE/Functions/gikine.m | 2,503 | utf_8 | 2afa5594f629cca2f15f846b5b02986f | %GIKINE Shoulder inverse kinematics of HAL-like right shoulder
%
% Computes the inverse kinematics of the right shoulder which is the
% same kinematically as a HAL object. This function is mainly useful
% for procedures which require many, many calls, so time can be saved
% by not referencing a HAL object.
%
% Copyr... |
github | kintzhao/rbpf-gmapping-master | wikine.m | .m | rbpf-gmapping-master/rvctools/contrib/pHRIWARE/Functions/wikine.m | 2,701 | utf_8 | dcf601603602f9b3c3a4d9e89c419f7f | %WIKINE Wrist inverse kinematics of HAL-like right wrist
%
% Computes the inverse kinematics of the right wrist which is the
% same kinematically as a HAL object. Either the hand and wrist frames
% can be entered separately, or a relative rotation used.
%
% Copyright (C) Bryan Moutrie, 2013-2014
% Licensed under the G... |
github | kintzhao/rbpf-gmapping-master | d2r.m | .m | rbpf-gmapping-master/rvctools/contrib/pHRIWARE/Functions/util/d2r.m | 1,151 | utf_8 | 6bd6efe48721ee4bba9f22561bb7d209 | %D2R Convert degrees into radians
%
% Convert an angle which is expressed in degrees into radians
%
% Copyright (C) Bryan Moutrie, 2013-2014
% Licensed under the GNU Lesser General Public License
% see full file for full statement
%
% Syntax:
% (1) rad = d2r(deg)
% (2) rad = d2r()
%
% (2) is as per (1) with deg = 1
... |
github | kintzhao/rbpf-gmapping-master | r2d.m | .m | rbpf-gmapping-master/rvctools/contrib/pHRIWARE/Functions/util/r2d.m | 1,152 | utf_8 | caab187d58d93147bf0ae052129f5837 | %R2D Convert radians into degrees
%
% Convert an angle which is expressed in radians into degrees
%
% Copyright (C) Bryan Moutrie, 2013-2014
% Licensed under the GNU Lesser General Public License
% see full file for full statement
%
% Syntax:
% (1) deg = r2d(rad)
% (2) deg = r2d()
%
% (2) is as per (1) with rad = 1
... |
github | kintzhao/rbpf-gmapping-master | sym2func.m | .m | rbpf-gmapping-master/rvctools/contrib/pHRIWARE/Functions/util/sym2func.m | 1,487 | utf_8 | 206b8225e15727a2ced9672dccf10b0c | %SYM2FUNC Convert a sym object to an anonymous functions
%
% While the function matlabFunction can be used for the same purpose,
% AND and OR operators when using this function cannot be made bitwise.
% This function converts AND and OR operators to be bitwise.
%
% Copyright (C) Bryan Moutrie, 2013-2014
% Licensed unde... |
github | kintzhao/rbpf-gmapping-master | anthroData.m | .m | rbpf-gmapping-master/rvctools/contrib/pHRIWARE/Data/anthroData.m | 4,287 | utf_8 | 1769d1ce3aea758cefcbc7cdcdb7cb64 | %ANTHRODATA Load anthropometric data
%
% Retrieve anthropometric data for a 50th percentile male. Data is
% taken from two sources, surveyed on US Army personnel and matched to
% US Marine Corps personnel.
%
% Copyright (C) Bryan Moutrie, 2013-2014
% Licensed under the GNU Lesser General Public License
% see full file ... |
github | kintzhao/rbpf-gmapping-master | cmdl_arm.m | .m | rbpf-gmapping-master/rvctools/contrib/pHRIWARE/Data/collision models/cmdl_arm.m | 2,143 | utf_8 | 995fbf7528a5d0c682b05242f7b41941 | %CMDL_ARM Create a CollisionModel object of the human arm
%
% Returns a CollisionModel object of the human upper arm and forearm.
% Link lengths may be specified or anthropometric data can be used. The
% Upper arm is a cylinder, and the forearm is a cylindrical frustum
% (Curvilinear), to accomodate for the change in t... |
github | kintzhao/rbpf-gmapping-master | cmdl_hat.m | .m | rbpf-gmapping-master/rvctools/contrib/pHRIWARE/Data/collision models/cmdl_hat.m | 2,307 | utf_8 | f3290d8655ffa889bf56d925a3cc2d9d | %CMDL_HAT Create a CollisionModel object of the human HAT
%
% Returns a CollisionModel object of the human head and torso segment
% (also includes neck). The model may be given for any shoulder frame
% transformation (synonymous with the base transform of a HAL object).
% The head is a sphere, the neck a cylinder, the ... |
github | kintzhao/rbpf-gmapping-master | cmdl_trophy.m | .m | rbpf-gmapping-master/rvctools/contrib/pHRIWARE/Data/collision models/cmdl_trophy.m | 2,062 | utf_8 | b35628504883c5136453e9deaeea2526 | %CMDL_TROPHY Create a CollisionModel object of a grand trophy
%
% Used for demos.
%
% Copyright (C) Bryan Moutrie, 2013-2014
% Licensed under the GNU Lesser General Public License
% see full file for full statement
%
% Syntax:
% (1) trophy = cmdl_trophy
%
% See also CollisionModel demo_collisionmodel demo_collisions
... |
github | kintzhao/rbpf-gmapping-master | ikunc.m | .m | rbpf-gmapping-master/rvctools/contrib/pHRIWARE/@SerialLinked/ikunc.m | 3,327 | utf_8 | 43dec76833447c8f590a31f3d8cc1b10 | %IKUNC Compute inverse kinematics without considering joint limits
%
% Computes the inverse kinematics for an arbitrary SerialLink
% manipulator. Requires fminunc from the optimization toolbox. ikunc
% works by minimizing the error between the forward kinematics of the
% joint angle solution and the end-effector frame ... |
github | kintzhao/rbpf-gmapping-master | qmincon.m | .m | rbpf-gmapping-master/rvctools/contrib/pHRIWARE/@SerialLinked/qmincon.m | 2,650 | utf_8 | e232f1884c4bdc09bfafc68b8c02d2c0 | %QMINCON Resolve redundancy in robots by avoiding joint limits
%
% A popular way to resolve redundant robots is to keep joints away from
% their mechanical limits to allow freer motion. This function will do
% that process. Requires fmincon from the optimization toolbox.
%
% Copyright (C) Bryan Moutrie, 2013-2014
% Lic... |
github | kintzhao/rbpf-gmapping-master | grav.m | .m | rbpf-gmapping-master/rvctools/contrib/pHRIWARE/@SerialLinked/grav.m | 4,126 | utf_8 | a179d90e418f0f1897b6f0dc218fac12 | % GRAV Quick non-mex gravload and jacob0 for SerialLink objects
%
% Calculates the joint loads due to gravity for SerialLink objects. The
% world frame Jacobian can also be returned. The gravity vector is
% defined by the SerialLink property if not explicitly given.
%
% Copyright (C) Bryan Moutrie, 2013-2014
% Licens... |
github | kintzhao/rbpf-gmapping-master | gravload.m | .m | rbpf-gmapping-master/rvctools/contrib/pHRIWARE/@SerialLinked/gravload.m | 2,143 | utf_8 | a4257a1b597dbd1b2bd9ae27835118d8 | % GRAVLOAD Joint loads due to gravity
%
% Uses either the rne MEX file, from RTB, or the grav function, from
% pHRIWARE, depending on being able to use the MEX file and if the
% Jacobian is requested to be returned
%
% Copyright (C) Bryan Moutrie, 2013-2014
% Licensed under the GNU Lesser General Public License
% see... |
github | kintzhao/rbpf-gmapping-master | collisions.m | .m | rbpf-gmapping-master/rvctools/contrib/pHRIWARE/@SerialLinked/collisions.m | 4,999 | utf_8 | 2e07e7b359a9934ea69b26721e7932fc | %COLLISIONS Conduct collision checking for SerialLink objects
%
% Uses the point data stored in the points property of SerialLink
% objects to conduct point-primitive collision checking with objects of
% the CollisionModel class. The function does not currently check the
% base of the SerialLink object!
%
% Copyright (... |
github | kintzhao/rbpf-gmapping-master | pay.m | .m | rbpf-gmapping-master/rvctools/contrib/pHRIWARE/@SerialLinked/pay.m | 2,621 | utf_8 | e8df4491625a558c3b10780f729de9ea | %PAY Joint forces from payload for SerialLink objects
%
% Calculates the joint loads due to a payload for SerialLink objects,
% It uses the formula Q = J'w, where w is a wrench vector applied at
% the end effector, w = [Fx Fy Fz Mxx Myy Mzz]'. The Jacobian can be
% supplied or computed by RTB
%
% Copyright (C) Bryan Mo... |
github | kintzhao/rbpf-gmapping-master | ikcon.m | .m | rbpf-gmapping-master/rvctools/contrib/pHRIWARE/@SerialLinked/ikcon.m | 3,631 | utf_8 | 5faa6d4f9f0f510cb615217373b829ea | %IKCON Compute inverse kinematics considering joint limits
%
% Computes the inverse kinematics for an arbitrary SerialLink
% manipulator. Requires fmincon from the optimization toolbox. ikcon
% works by minimizing the error between the forward kinematics of the
% joint angle solution and the end-effector frame as an op... |
github | kintzhao/rbpf-gmapping-master | paycap.m | .m | rbpf-gmapping-master/rvctools/contrib/pHRIWARE/@SerialLinked/paycap.m | 2,703 | utf_8 | e85cce199f51a5894a3a54bc7f180fc6 | %PAYCAP Compute the static payload capacity of a SerialLink object
%
% Find the maximum magnitude of a wrench applied at the end-effector
% for a given pose. The wrench may be referenced in the world frame or
% end-effector frame. How loads are calculated vary to minimise time.
%
% Copyright (C) Bryan Moutrie, 2013-201... |
github | kintzhao/rbpf-gmapping-master | islimit.m | .m | rbpf-gmapping-master/rvctools/contrib/pHRIWARE/Classes/@HAL/islimit.m | 2,476 | utf_8 | a13b796e34c45131ccfc72674e6eef4a | %ISLIMIT Test if HAL joint angles are within their limits
%
% Returns a matrix the same size as the matrix of joint angles input
% (where each row is a joint angle set), whose elements are false if
% within joint limits or true if not. The formulae by Lenarcic & Umek
% (1994) are used to calculate the shoulder range of... |
github | kintzhao/rbpf-gmapping-master | ikine.m | .m | rbpf-gmapping-master/rvctools/contrib/pHRIWARE/Classes/@HAL/ikine.m | 2,958 | utf_8 | 77a240e44c5f04e2c993589f96a22414 | %IKINE Inverse kinematics of HAL objects
%
% Executes the inverse kinematics of a HAL (human arm-like) object.
% It returns the two sets of possible solutions for the shoulder and
% wrist in two of the four possible permutations - the other two may be
% created from the others.
%
% Copyright (C) Bryan Moutrie, 2013-20... |
github | kintzhao/rbpf-gmapping-master | reachable.m | .m | rbpf-gmapping-master/rvctools/contrib/pHRIWARE/Classes/@HAL/reachable.m | 3,113 | utf_8 | 482fade2cdb805c5937decc7ca3878bf | %REACHABLE Find if a pose is reachable
%
% Tests if a pose, described by two sets of joint angles (such as that
% from ikine), is reachable or not. Will output the permutation of the
% two sets, which is reachable.
%
% Copyright (C) Bryan Moutrie, 2013-2014
% Licensed under the GNU Lesser General Public License
% see f... |
github | kintzhao/rbpf-gmapping-master | runscript.m | .m | rbpf-gmapping-master/rvctools/contrib/pHRIWARE/Help/Demos/runscript.m | 7,187 | utf_8 | 5e6cbdf3a3da19124b626a132f58e8b3 | %RUNSCRIPT Run an M-file in interactive fashion
%
% RUNSCRIPT(FNAME, OPTIONS) runs the M-file FNAME and pauses after every
% executable line in the file until a key is pressed. Comment lines are shown
% without any delay between lines.
%
% Options::
% 'delay',D Don't wait for keypress, just delay of D seconds (defa... |
github | kintzhao/rbpf-gmapping-master | e2h.m | .m | rbpf-gmapping-master/rvctools/common/e2h.m | 1,006 | utf_8 | 2cb9b356b913bc4034f8ff954a3af7cb | %E2H Euclidean to homogeneous
%
% H = E2H(E) is the homogeneous version (K+1xN) of the Euclidean
% points E (KxN) where each column represents one point in R^K.
%
% See also H2E.
% Copyright (C) 1993-2014, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
%
% RTB is free software: you... |
github | kintzhao/rbpf-gmapping-master | distributeblocks.m | .m | rbpf-gmapping-master/rvctools/common/distributeblocks.m | 2,606 | utf_8 | b11652fa2e6274e5299ac02f68996794 | %DISTRIBUTEBLOCKS Distribute blocks in Simulink block library
%
% distributeBlocks(MODEL) equidistantly distributes blocks in a Simulink
% block library named MODEL.
%
% Notes::
% - The MATLAB functions to create Simulink blocks from symbolic
% expresssions actually place all blocks on top of each other. This
% fu... |
github | kintzhao/rbpf-gmapping-master | ccodefunctionstring.m | .m | rbpf-gmapping-master/rvctools/common/ccodefunctionstring.m | 7,645 | utf_8 | 47447f45c3b6b9ef935fe5c69d6c94c1 | %CCODEFUNCTIONSTRING Converts a symbolic expression into a C-code function
%
% [FUNSTR, HDRSTR] = ccodefunctionstring(SYMEXPR, ARGLIST) returns a string
% representing a C-code implementation of a symbolic expression SYMEXPR.
% The C-code implementation has a signature of the form:
%
% void funname(double[][n_o... |
github | kintzhao/rbpf-gmapping-master | Polygon.m | .m | rbpf-gmapping-master/rvctools/common/Polygon.m | 43,679 | utf_8 | f9aecaaeb67549736f9e5a897382c8f4 | %POLYGON Polygon class
%
% A general class for manipulating polygons and vectors of polygons.
%
% Methods::
% plot Plot polygon
% area Area of polygon
% moments Moments of polygon
% centroid Centroid of polygon
% perimeter Perimter of polygon
% transform Transform polygo... |
github | kintzhao/rbpf-gmapping-master | plot_ellipse.m | .m | rbpf-gmapping-master/rvctools/common/plot_ellipse.m | 5,075 | utf_8 | dc3a048c3ebbe615580730aee7e0e297 | %PLOT_ELLIPSE Draw an ellipse or ellipsoid
%
% PLOT_ELLIPSE(A, OPTIONS) draws an ellipse defined by X'AX = 0 on the
% current plot, centred at the origin.
%
% PLOT_ELLIPSE(A, C, OPTIONS) as above but centred at C=[X,Y]. If
% C=[X,Y,Z] the ellipse is parallel to the XY plane but at height Z.
%
% H = PLOT_ELLIPSE(A, C, ... |
github | kintzhao/rbpf-gmapping-master | edgelist.m | .m | rbpf-gmapping-master/rvctools/common/edgelist.m | 4,519 | utf_8 | 9dbcf362180f27696a907d35e54a9736 | %EDGELIST Return list of edge pixels for region
%
% EG = EDGELIST(IM, SEED) is a list of edge pixels (Nx2) of a region in the
% image IM starting at edge coordinate SEED=[X,Y]. The edgelist has one row per
% edge point coordinate (x,y).
%
% EG = EDGELIST(IM, SEED, DIRECTION) as above, but the direction of edge
% fol... |
github | kintzhao/rbpf-gmapping-master | plot2.m | .m | rbpf-gmapping-master/rvctools/common/plot2.m | 1,511 | utf_8 | bfd954f5beb6f7fc4fb81eb31a3787c3 | %PLOT2 Plot trajectories
%
% PLOT2(P) plots a line with coordinates taken from successive rows of P. P
% can be Nx2 or Nx3.
%
% If P has three dimensions, ie. Nx2xM or Nx3xM then the M trajectories are
% overlaid in the one plot.
%
% PLOT2(P, LS) as above but the line style arguments LS are passed to plot.
%
% See als... |
github | kintzhao/rbpf-gmapping-master | diff2.m | .m | rbpf-gmapping-master/rvctools/common/diff2.m | 1,284 | utf_8 | f6e6e63ad2f2932ff0c0f6cc8d30e137 | %DIFF2 First-order difference
%
% D = DIFF2(V) is the first-order difference (1xN) of the series data in
% vector V (1xN) and the first element is zero.
%
% D = DIFF2(A) is the first-order difference (MxN) of the series data in
% each row of the matrix A (MxN) and the first element in each row is zero.
%
% Notes::
% ... |
github | kintzhao/rbpf-gmapping-master | colnorm.m | .m | rbpf-gmapping-master/rvctools/common/colnorm.m | 949 | utf_8 | 4debc9bb5d072db097080daf3f4a0e0d | %COLNORM Column-wise norm of a matrix
%
% CN = COLNORM(A) is vector (1xM) of the normals of each column of the
% matrix A (NxM).
% Copyright (C) 1993-2014, 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 ... |
github | kintzhao/rbpf-gmapping-master | plot_arrow.m | .m | rbpf-gmapping-master/rvctools/common/plot_arrow.m | 1,200 | utf_8 | b0e028d67838f7797ea962dbf227f836 | %PLOT_ARROW Draw an arrow
%
% PLOT_ARROW(P, OPTIONS) draws an arrow from P1 to P2 where P=[P1; P2].
%
% Options::
% All options are passed through to arrow3. Pass in a single character
% MATLAB colorspec (eg. 'r') to set the color.
%
% See also ARROW3.
% Copyright (C) 1993-2014, by Peter I. Corke
%
% This file is par... |
github | kintzhao/rbpf-gmapping-master | yaxis.m | .m | rbpf-gmapping-master/rvctools/common/yaxis.m | 1,309 | utf_8 | 5f4320f0c98172efe34b97d002fc128e | %YAYIS set Y-axis scaling
%
% YAXIS(MAX) set y-axis scaling from 0 to MAX.
%
% YAXIS(MIN, MAX) set y-axis scaling from MIN to MAX.
%
% YAXIS([MIN MAX]) as above.
%
% YAXIS restore automatic scaling for y-axis.
%
% See also YAXIS.
% Copyright (C) 1993-2014, by Peter I. Corke
%
% This file is part of The Robotics Toolbo... |
github | kintzhao/rbpf-gmapping-master | plot_poly.m | .m | rbpf-gmapping-master/rvctools/common/plot_poly.m | 2,318 | utf_8 | 297b18bbd3140b314fc2a5221f378aea | %PLOT_POLY Draw a polygon
%
% PLOT_POLY(P, OPTIONS) draws a polygon defined by columns of P (2xN), in the current plot.
%
% OPTIONS::
% 'fill',F the color of the circle's interior, MATLAB color spec
% 'alpha',A transparency of the filled circle: 0=transparent, 1=solid.
%
% Notes::
% - If P (3xN) the polygon is d... |
github | kintzhao/rbpf-gmapping-master | doesblockexist.m | .m | rbpf-gmapping-master/rvctools/common/doesblockexist.m | 1,638 | utf_8 | 5151a98c79945c7b9f3843582b6e9f34 | %DOESBLOCKEXIST Check existence of block in Simulink model
%
% RES = doesblockexist(MDLNAME, BLOCKADDRESS) is a logical result that
% indicates whether or not the block BLOCKADDRESS exists within the
% Simulink model MDLNAME.
%
% Author::
% Joern Malzahn, (joern.malzahn@tu-dortmund.de)
%
% See also symexpr2slblock, ... |
github | kintzhao/rbpf-gmapping-master | gauss2d.m | .m | rbpf-gmapping-master/rvctools/common/gauss2d.m | 1,287 | utf_8 | c9329a3cf21df2eb02cc83da94f1b08b | %GAUSS2D Gaussian kernel
%
% OUT = GAUSS2D(IM, SIGMA, C) is a unit volume Gaussian kernel rendered into
% matrix OUT (WxH) the same size as IM (WxH). The Gaussian has a standard
% deviation of SIGMA. The Gaussian is centered at C=[U,V].
% Copyright (C) 1993-2014, by Peter I. Corke
%
% This file is part of The Rob... |
github | kintzhao/rbpf-gmapping-master | ishomog.m | .m | rbpf-gmapping-master/rvctools/common/ishomog.m | 1,399 | utf_8 | 7a7028bf8f013a80ff13d3f65d302bc4 | %ISHOMOG Test if SE(3) homogeneous transformation
%
% ISHOMOG(T) is true (1) if the argument T is of dimension 4x4 or 4x4xN, else
% false (0).
%
% ISHOMOG(T, 'valid') as above, but also checks the validity of the rotation
% sub-matrix.
%
% Notes::
% - The first form is a fast, but incomplete, test for a transform is S... |
github | kintzhao/rbpf-gmapping-master | homtrans.m | .m | rbpf-gmapping-master/rvctools/common/homtrans.m | 2,020 | utf_8 | 269013d453832d4d270e61b718aeaa65 | %HOMTRANS Apply a homogeneous transformation
%
% P2 = HOMTRANS(T, P) applies homogeneous transformation T to the points
% stored columnwise in P.
%
% - If T is in SE(2) (3x3) and
% - P is 2xN (2D points) they are considered Euclidean (R^2)
% - P is 3xN (2D points) they are considered projective (P^2)
% - If T is i... |
github | kintzhao/rbpf-gmapping-master | colorname.m | .m | rbpf-gmapping-master/rvctools/common/colorname.m | 6,627 | utf_8 | 5b9410f99b98845655d3b5db94b1ba4f | %COLORNAME Map between color names and RGB values
%
% RGB = COLORNAME(NAME) is the RGB-tristimulus value (1x3) corresponding to
% the color specified by the string NAME. If RGB is a cell-array (1xN) of
% names then RGB is a matrix (Nx3) with each row being the corresponding
% tristimulus.
%
% XYZ = COLORNAME(NAME, 'xy... |
github | kintzhao/rbpf-gmapping-master | simulinkext.m | .m | rbpf-gmapping-master/rvctools/common/simulinkext.m | 1,565 | utf_8 | f0f596f564cd2826b87fd8018f868a77 | %SIMULINKEXT Return file extension of Simulink block diagrams.
%
% str = simulinkext() is either
% - '.mdl' if Simulink version number is less than 8
% - '.slx' if Simulink version numberis larger or equal to 8
%
% Notes::
% The file extension for Simulink block diagrams has changed from Matlab 2011b to Matlab 2012a. ... |
github | kintzhao/rbpf-gmapping-master | angdiff.m | .m | rbpf-gmapping-master/rvctools/common/angdiff.m | 1,937 | utf_8 | 5466432a2f94cc0a891bdd989b9a2312 | %ANGDIFF Difference of two angles
%
% D = ANGDIFF(TH1, TH2) returns the difference between angles TH1 and TH2 on
% the circle. The result is in the interval [-pi pi). If TH1 is a column
% vector, and TH2 a scalar then return a column vector where TH2 is modulo
% subtracted from the corresponding elements of TH1.
%
... |
github | kintzhao/rbpf-gmapping-master | h2e.m | .m | rbpf-gmapping-master/rvctools/common/h2e.m | 1,080 | utf_8 | 84e0bb752e6dd55a3cee6298272b3b87 | %H2E Homogeneous to Euclidean
%
% E = H2E(H) is the Euclidean version (K-1xN) of the homogeneous
% points H (KxN) where each column represents one point in P^K.
%
% See also E2H.
% Copyright (C) 1993-2014, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
%
% RTB is free software: yo... |
github | kintzhao/rbpf-gmapping-master | plot_point.m | .m | rbpf-gmapping-master/rvctools/common/plot_point.m | 3,060 | utf_8 | 2463bf8f14a1eb27c785a601bb3e3c0b | %PLOT_POINT Draw a feature point
%
% PLOT_POINT(P, OPTIONS) adds point markers to the current plot, where P (2xN)
% and each column is the point coordinate.
%
% Options::
% 'textcolor', colspec Specify color of text
% 'textsize', size Specify size of text
% 'bold' Text in bold font.
% ... |
github | kintzhao/rbpf-gmapping-master | isrot.m | .m | rbpf-gmapping-master/rvctools/common/isrot.m | 1,296 | utf_8 | cf538053835bb35b2ad96f75fb03ff73 | %ISROT Test if SO(3) rotation matrix
%
% ISROT(R) is true (1) if the argument is of dimension 3x3 or 3x3xN, else false (0).
%
% ISROT(R, 'valid') as above, but also checks the validity of the rotation
% matrix.
%
% Notes::
% - A valid rotation matrix has determinant of 1.
%
% See also ISHOMOG, ISVEC.
% Copyright (C)... |
github | kintzhao/rbpf-gmapping-master | peak2.m | .m | rbpf-gmapping-master/rvctools/common/peak2.m | 4,175 | utf_8 | a319fce5e09261e3d464a50c2a6d0682 | %PEAK2 Find peaks in a matrix
%
% ZP = PEAK2(Z, OPTIONS) are the peak values in the 2-dimensional signal Z.
%
% [ZP,IJ] = PEAK2(Z, OPTIONS) as above but also returns the indices of the
% maxima in the matrix Z. Use SUB2IND to convert these to row and column
% coordinates
%
% Options::
% 'npeaks',N Number of peak... |
github | kintzhao/rbpf-gmapping-master | polydiff.m | .m | rbpf-gmapping-master/rvctools/common/polydiff.m | 1,028 | utf_8 | 6d06f990e6189bddac233036f35d0ba6 | %POLYDIFF Differentiate a polynomial
%
% PD = POLYDIFF(P) is a vector of coefficients of a polynomial (1xN-1) which is the
% derivative of the polynomial P (1xN).
%
% See also POLYVAL.
% Copyright (C) 1993-2014, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
%
% RTB is free software... |
github | kintzhao/rbpf-gmapping-master | isvec.m | .m | rbpf-gmapping-master/rvctools/common/isvec.m | 1,392 | utf_8 | 16021602c566eda7a9492b254784b92b | %ISVEC Test if vector
%
% ISVEC(V) is true (1) if the argument V is a 3-vector, else false (0).
%
% ISVEC(V, L) is true (1) if the argument V is a vector of length L,
% either a row- or column-vector. Otherwise false (0).
%
% Notes::
% - Differs from MATLAB builtin function ISVECTOR, the latter returns true
% for th... |
github | kintzhao/rbpf-gmapping-master | randinit.m | .m | rbpf-gmapping-master/rvctools/common/randinit.m | 977 | utf_8 | b857fbea6a9f67aa92df35f510824e7e | %RANDINIT Reset random number generator
%
% RANDINIT resets the defaul random number stream.
%
% See also RandStream.
% Copyright (C) 1993-2014, 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... |
github | kintzhao/rbpf-gmapping-master | plot_ellipse_inv.m | .m | rbpf-gmapping-master/rvctools/common/plot_ellipse_inv.m | 2,795 | utf_8 | 8ebd71fe63043fb44ef27dfe7d79543a | %PLOT_ELLIPSE_INV Draw an ellipse or ellipsoid
%
% PLOT_ELLIPSE_INV(A, OPTIONS) draws an ellipse defined by X'.inv(A).X = 0 on the
% current plot, centred at the origin.
%
% PLOT_ELLIPSE_INV(A, C, OPTIONS) as above but centred at C=[X,Y]. If
% C=[X,Y,Z] the ellipse is parallel to the XY plane but at height Z.
%
% H = ... |
github | kintzhao/rbpf-gmapping-master | plot_circle.m | .m | rbpf-gmapping-master/rvctools/common/plot_circle.m | 3,561 | utf_8 | 65e37ae914a661f5ee2cd3cb242c081d | %PLOT_CIRCLE Draw a circle
%
% PLOT_CIRCLE(C, R, options) draws a circle on the current plot with
% centre C=[X,Y] and radius R. If C=[X,Y,Z] the circle is drawn in the
% XY-plane at height Z.
%
% H = PLOT_CIRCLE(C, R, options) as above but return handles. For multiple
% circles H is a vector of handles, one per circ... |
github | kintzhao/rbpf-gmapping-master | plot_homline.m | .m | rbpf-gmapping-master/rvctools/common/plot_homline.m | 1,867 | utf_8 | 28aa17324b9f8e4c891c3a5f192c6c31 | %PLOT_HOMLINE Draw a homogeneous
%
% PLOT_HOMLINE(L, LS) draws a line in the current plot L.X = 0 where L
% (3x1). The current axis limits are used to determine the endpoints of
% the line. MATLAB line specification LS can be set. If L (3xN) then N
% lines are drawn, one per column.
%
% H = PLOT_HOMLINE(L, LS) as ab... |
github | kintzhao/rbpf-gmapping-master | xaxis.m | .m | rbpf-gmapping-master/rvctools/common/xaxis.m | 1,831 | utf_8 | b0c7ded511fc33d4776f74bf8c5ba924 | %XAXIS Set X-axis scaling
%
% XAXIS(MAX) set x-axis scaling from 0 to MAX.
%
% XAXIS(MIN, MAX) set x-axis scaling from MIN to MAX.
%
% XAXIS([MIN MAX]) as above.
%
% XAXIS restore automatic scaling for x-axis.
%
% See also YAXIS.
% Copyright (C) 1993-2014, by Peter I. Corke
%
% This file is part of The Robotics Toolb... |
github | kintzhao/rbpf-gmapping-master | dockfigs.m | .m | rbpf-gmapping-master/rvctools/common/dockfigs.m | 1,179 | utf_8 | aa49ffae7eeff25c8b951ee388a9dcf3 | %DOCKFIGS Control figure docking in the GUI
%
% dockfigs causes all new figures to be docked into the GUI
%
% dockfigs(1) as above.
%
% dockfigs(0) causes all new figures to be undocked from the GUI
% Copyright (C) 1993-2014, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
%
% RTB i... |
github | kintzhao/rbpf-gmapping-master | circle.m | .m | rbpf-gmapping-master/rvctools/common/circle.m | 2,066 | utf_8 | 2d421a9c7d25e747a34f5630d9f97e4d | %CIRCLE Compute points on a circle
%
% CIRCLE(C, R, OPT) plots a circle centred at C (1x2) with radius R on the current
% axes.
%
% X = CIRCLE(C, R, OPT) is a matrix (2xN) whose columns define the
% coordinates [x,y] of points around the circumferance of a circle
% centred at C (1x2) and of radius R.
%
% C is normall... |
github | kintzhao/rbpf-gmapping-master | ishomog2.m | .m | rbpf-gmapping-master/rvctools/common/ishomog2.m | 1,412 | utf_8 | 054e73efc29b2cdb248ea4ffb3753f04 | %ISHOMOG2 Test if SE(2) homogeneous transformation
%
% ISHOMOG2(T) is true (1) if the argument T is of dimension 3x3 or 3x3xN, else
% false (0).
%
% ISHOMOG2(T, 'valid') as above, but also checks the validity of the rotation
% sub-matrix.
%
% Notes::
% - The first form is a fast, but incomplete, test for a transform i... |
github | kintzhao/rbpf-gmapping-master | xyzlabel.m | .m | rbpf-gmapping-master/rvctools/common/xyzlabel.m | 954 | utf_8 | bb86aa1eeff27a679d494908526664dd | %XYZLABEL Label X, Y and Z axes
%
% XYZLABEL label the x-, y- and z-axes with 'X', 'Y', and 'Z'
% respectiveley
% Copyright (C) 1993-2014, 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 ... |
github | kintzhao/rbpf-gmapping-master | homline.m | .m | rbpf-gmapping-master/rvctools/common/homline.m | 1,303 | utf_8 | f14119545a317500a53f1bd2808c63b0 | %HOMLINE Homogeneous line from two points
%
% L = HOMLINE(X1, Y1, X2, Y2) is a vector (3x1) which describes a line in
% homogeneous form that contains the two Euclidean points (X1,Y1) and (X2,Y2).
%
% Homogeneous points X (3x1) on the line must satisfy L'*X = 0.
%
% See also PLOT_HOMLINE.
% Copyright (C) 1993-2014, by... |
github | kintzhao/rbpf-gmapping-master | plot_sphere.m | .m | rbpf-gmapping-master/rvctools/common/plot_sphere.m | 2,821 | utf_8 | 694cb92035e8acfcec3a664fba49c3df | %PLOT_SPHERE Draw sphere
%
% PLOT_SPHERE(C, R, LS) draws spheres in the current plot. C is the
% centre of the sphere (3x1), R is the radius and LS is an optional MATLAB
% color spec, either a letter or a 3-vector.
%
% H = PLOT_SPHERE(C, R, COLOR) as above but returns the handle(s) for the
% spheres.
%
% H = PLOT_... |
github | kintzhao/rbpf-gmapping-master | peak.m | .m | rbpf-gmapping-master/rvctools/common/peak.m | 4,681 | utf_8 | dbeb9eb19727cfd5d57a496b384882c7 | %PEAK Find peaks in vector
%
% YP = PEAK(Y, OPTIONS) are the values of the maxima in the vector Y.
%
% [YP,I] = PEAK(Y, OPTIONS) as above but also returns the indices of the maxima
% in the vector Y.
%
% [YP,XP] = PEAK(Y, X, OPTIONS) as above but also returns the corresponding
% x-coordinates of the maxima in the vect... |
github | kintzhao/rbpf-gmapping-master | numrows.m | .m | rbpf-gmapping-master/rvctools/common/numrows.m | 988 | utf_8 | ba74d58782904c272669fa2d5e9f18d9 | %NUMROWS Number of rows in matrix
%
% NR = NUMROWS(M) is the number of rows in the matrix M.
%
% Notes::
% - Readable shorthand for SIZE(M,1);
%
% See also NUMCOLS, SIZE.
% Copyright (C) 1993-2014, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
%
% RTB is free software: you can re... |
github | kintzhao/rbpf-gmapping-master | runscript.m | .m | rbpf-gmapping-master/rvctools/common/runscript.m | 7,314 | utf_8 | 413b90b4490a5dbba046f6a489e23619 | %RUNSCRIPT Run an M-file in interactive fashion
%
% RUNSCRIPT(FNAME, OPTIONS) runs the M-file FNAME and pauses after every
% executable line in the file until a key is pressed. Comment lines are shown
% without any delay between lines.
%
% Options::
% 'delay',D Don't wait for keypress, just delay of D seconds (defa... |
github | kintzhao/rbpf-gmapping-master | plot_box.m | .m | rbpf-gmapping-master/rvctools/common/plot_box.m | 2,903 | utf_8 | 88e97e1345540ff8c45bca52a5e8dc65 | %PLOT_BOX Draw a box
%
% PLOT_BOX(B, LS) draws a box defined by B=[XL XR; YL YR] on the current
% plot with optional MATLAB linestyle options LS.
%
% PLOT_BOX(X1,Y1, X2,Y2, LS) draws a box with corners at (X1,Y1) and (X2,Y2),
% and optional MATLAB linestyle options LS.
%
% PLOT_BOX('centre', P, 'size', W, LS) draws a b... |
github | kintzhao/rbpf-gmapping-master | symexpr2slblock.m | .m | rbpf-gmapping-master/rvctools/common/symexpr2slblock.m | 3,141 | utf_8 | 50274d4285157d4352519b25ab9087be | %SYMEXPR2SLBLOCK Create symbolic embedded MATLAB Function block
%
% symexpr2slblock(VARARGIN) creates an Embedded MATLAB Function block
% from a symbolic expression. The input arguments are just as used with
% the functions emlBlock or matlabFunctionBlock.
%
% Notes::
% - In Symbolic Toolbox versions prior to V5.7 (2... |
github | kintzhao/rbpf-gmapping-master | tb_optparse.m | .m | rbpf-gmapping-master/rvctools/common/tb_optparse.m | 11,578 | utf_8 | 5d576d173989d4f4b042041b149d45de | %OPTPARSE Standard option parser for Toolbox functions
%
% OPTOUT = TB_OPTPARSE(OPT, ARGLIST) is a generalized option parser for
% Toolbox functions. OPT is a structure that contains the names and
% default values for the options, and ARGLIST is a cell array containing
% option parameters, typically it comes from VARA... |
github | kintzhao/rbpf-gmapping-master | rvcpath.m | .m | rbpf-gmapping-master/rvctools/common/rvcpath.m | 962 | utf_8 | eaada08caa0c35fde7ff585a90a470fa | %RVCPATH Install location of RVC tools
%
% p = RVCPATH is the path of the top level folder for the installed RVC
% tools.
% Copyright (C) 1993-2014, 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... |
github | kintzhao/rbpf-gmapping-master | plotp.m | .m | rbpf-gmapping-master/rvctools/common/plotp.m | 1,416 | utf_8 | d2e096bf43da6f7de89117457a6083f3 | %PLOTP Plot trajectories
%
% PLOTP(P) plots a set of points P, which by Toolbox convention are stored
% one per column. P can be Nx2 or Nx3. By default a linestyle of 'bx'
% is used.
%
% PLOTP(P, LS) as above but the line style arguments LS are passed to plot.
%
% See also PLOT, PLOT2.
% Copyright (C) 1993-2014, by ... |
github | kintzhao/rbpf-gmapping-master | bresenham.m | .m | rbpf-gmapping-master/rvctools/common/bresenham.m | 2,189 | utf_8 | 6012dd377fd3575f5c8415abfeb8d0bb | %BRESENHAM Generate a line
%
% P = BRESENHAM(X1, Y1, X2, Y2) is a list of integer coordinates (2xN) for
% points lying on the line segement (X1,Y1) to (X2,Y2).
%
% P = BRESENHAM(P1, P2) as above but P1=[X1,Y1] and P2=[X2,Y2].
%
% Notes::
% - Endpoints must be integer values.
%
% See also ICANVAS.
% Copyright (C) 1... |
github | kintzhao/rbpf-gmapping-master | multidfprintf.m | .m | rbpf-gmapping-master/rvctools/common/multidfprintf.m | 2,085 | utf_8 | ee06fac222acd20af936d1502c540697 | %MULTIDFPRINTF Print formatted text to multiple streams
%
% COUNT = MULTIDFPRINTF(IDVEC, FORMAT, A, ...) performs formatted output
% to multiple streams such as console and files. FORMAT is the format string
% as used by sprintf and fprintf. A is the array of elements, to which the
% format will be applied similar ... |
github | kintzhao/rbpf-gmapping-master | arrow3.m | .m | rbpf-gmapping-master/rvctools/common/arrow3.m | 33,573 | utf_8 | 68d51547bfacf65eae53515790a310a7 | function hn=arrow3(p1,p2,s,w,h,ip,alpha,beta)
% ARROW3 (R13)
% ARROW3(P1,P2) draws lines from P1 to P2 with directional arrowheads.
% P1 and P2 are either nx2 or nx3 matrices. Each row of P1 is an
% initial point, and each row of P2 is a terminal point.
%
% ARROW3(P1,P2,S,W,H,IP,ALPHA,BETA) can be used to spec... |
github | kintzhao/rbpf-gmapping-master | about.m | .m | rbpf-gmapping-master/rvctools/common/about.m | 2,225 | utf_8 | fdfa40951c4fab205d55cdd55c9eb5c3 | %ABOUT Compact display of variable type
%
% ABOUT(X) displays a compact line that describes the class and dimensions of
% X.
%
% ABOUT X as above but this is the command rather than functional form
%
% Examples::
% >> a=1;
% >> about a
% a [double] : 1x1 (8 bytes)
%
% >> a = rand(5,7);
... |
github | kintzhao/rbpf-gmapping-master | numcols.m | .m | rbpf-gmapping-master/rvctools/common/numcols.m | 991 | utf_8 | 55c8716aa26a06cafd3487c9e03a6578 | %NUMCOLS Number of columns in matrix
%
% NC = NUMCOLS(M) is the number of columns in the matrix M.
%
% Notes::
% - Readable shorthand for SIZE(M,2);
%
% See also NUMROWS, SIZE.
% Copyright (C) 1993-2014, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
%
% RTB is free software: you c... |
github | kintzhao/rbpf-gmapping-master | isrot2.m | .m | rbpf-gmapping-master/rvctools/common/isrot2.m | 1,300 | utf_8 | e0689ff97a4368ed6be3e9d1d2bab823 | %ISROT2 Test if SO(2) rotation matrix
%
% ISROT2(R) is true (1) if the argument is of dimension 2x2 or 2x2xN, else false (0).
%
% ISROT2(R, 'valid') as above, but also checks the validity of the rotation
% matrix.
%
% Notes::
% - A valid rotation matrix has determinant of 1.
%
% See also ISHOMOG2, ISVEC.
% Copyright... |
github | kintzhao/rbpf-gmapping-master | ScanMatch.m | .m | rbpf-gmapping-master/rvctools/ScanMatcher/ScanMatch.m | 11,976 | utf_8 | f700b9e3e6342e113c67fc4a22624b8e | function [score alignment] = ScanMatch(seq1, seq2, ScanMatchInfo, varargin)
%SCANMATCH compares two sequences using the Needleman-Wunsch
% algorithm providing a GUI is needed to display the results.
% SCORE = SCANMATCH(SEQ1, SEQ2, SCANMATCHINFO) where SEQ1 and SEQ2 are
% two double strings (where a single fixatio... |
github | kintzhao/rbpf-gmapping-master | wtrans.m | .m | rbpf-gmapping-master/rvctools/robot/wtrans.m | 1,242 | utf_8 | 3d7bad7dfd3a4261c0ca6d8c3c19ba5b | %WTRANS Transform a wrench between coordinate frames
%
% WT = WTRANS(T, W) is a wrench (6x1) in the frame represented by the homogeneous
% transform T (4x4) corresponding to the world frame wrench W (6x1).
%
% The wrenches W and WT are 6-vectors of the form [Fx Fy Fz Mx My Mz]'.
%
% See also TR2DELTA, TR2JAC.
% Cop... |
github | kintzhao/rbpf-gmapping-master | mdl_hyper3d.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | skew.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | mtraj.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | transl.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | mdl_offset6.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | Quaternion.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | lspb.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | qplot.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | tranimate.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | tr2delta.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | jsingu.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | troty.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | r2t.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | rotx.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | mdl_m16.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | oa2tr.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | trotz.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | tr2angvec.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | mdl_offset3.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | joy2tr.m | .m | rbpf-gmapping-master/rvctools/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... |
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