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values | md5 stringlengths 32 32 | text stringlengths 23 843k |
|---|---|---|---|---|---|---|---|---|
github | kintzhao/rbpf-gmapping-master | mdl_simple6.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | trot2.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | plotbotopt.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | trplot.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | rot2.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | trchain2.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | eul2r.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | tr2jac.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | jtraj.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | rotz.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | angvec2tr.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | mdl_irb140.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | tpoly.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | rpy2tr.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | mdl_jaco.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | mdl_coil.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | trinterp.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | se3.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | oa2r.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | roty.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | mstraj.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | eul2jac.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | trscale.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | distancexform.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | eul2tr.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | unit.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | mdl_mico.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | t2r.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | makemap.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | trnorm.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | tr2rt.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | vex.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | trplot2.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | delta2tr.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | trprint.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | ctraj.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | tr2eul.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | rtbdemo.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | tripleangle.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | tr2rpy.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | plot_vehicle.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | rpy2r.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | transl2.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | trotx.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | rt2tr.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | angvec2r.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | Link.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | rpy2jac.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | mdl_hyper2d.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | se2.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | mdl_ball.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | trchain.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | genslblockinvdyn.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | genccodeinertia.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | genccodecoriolis.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | genmexinvdyn.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | genmexfriction.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | genmexfdyn.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | genslblockcoriolis.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | geninvdyn.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | genfkine.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | genmfunjacobian.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | genslblockgravload.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | gengravload.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | genslblockfriction.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | genmfunfriction.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | genmexcoriolis.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | genmfungravload.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | genslblockfdyn.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | genmexinertia.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | genjacobian.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | genmexjacobian.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | genfdyn.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | gencoriolis.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | genccodefdyn.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | genmexgravload.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | genccodefriction.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | logmsg.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | genmfuncoriolis.m | .m | rbpf-gmapping-master/rvctools/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 | kintzhao/rbpf-gmapping-master | genmfuninertia.m | .m | rbpf-gmapping-master/rvctools/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... |
github | kintzhao/rbpf-gmapping-master | genfriction.m | .m | rbpf-gmapping-master/rvctools/robot/@CodeGenerator/genfriction.m | 2,784 | utf_8 | a1bc1fedbcf823d7149a1fcbdd230639 | %CODEGENERATOR.GENFRICTION Generate code for joint friction
%
% F = cGen.genfriction() is the symbolic vector (1xN) of joint friction
% forces.
%
% Notes::
% - Side effects of execution depends on the cGen flags:
% - saveresult: the symbolic expressions are saved to
% disk in the directory specified by cGen.sympa... |
github | kintzhao/rbpf-gmapping-master | genccodejacobian.m | .m | rbpf-gmapping-master/rvctools/robot/@CodeGenerator/genccodejacobian.m | 7,148 | utf_8 | b42a7ebaf451ac5af4e2e5f3fd4cb42b | %CODEGENERATOR.GENCCODEJACOBIAN Generate C-functions for robot jacobians
%
% cGen.genccodejacobian() generates a robot-specific C-function to compute
% the jacobians with respect to the robot base as well as the end effector.
%
% Notes::
% - Is called by CodeGenerator.genjacobian if cGen has active flag genccode or
% ... |
github | kintzhao/rbpf-gmapping-master | genmfuninvdyn.m | .m | rbpf-gmapping-master/rvctools/robot/@CodeGenerator/genmfuninvdyn.m | 5,227 | utf_8 | a0b6245ef3833028ba37da40dcb4548d | %CODEGENERATOR.GENMFUNINVDYN Generate M-functions for inverse dynamics
%
% cGen.genmfuninvdyn() generates a robot-specific M-function to compute
% inverse dynamics.
%
% Notes::
% - Is called by CodeGenerator.geninvdyn if cGen has active flag genmfun
% - The generated M-function is composed of previously generated M-fu... |
github | kintzhao/rbpf-gmapping-master | genccodeinvdyn.m | .m | rbpf-gmapping-master/rvctools/robot/@CodeGenerator/genccodeinvdyn.m | 7,872 | utf_8 | 5a149edbf8ff9cd3a9680b47f29b1606 | %CODEGENERATOR.GENCCODEINVDYN Generate C-code for inverse dynamics
%
% cGen.genccodeinvdyn() generates a robot-specific C-code to compute the
% inverse dynamics.
%
% Notes::
% - Is called by CodeGenerator.geninvdyn if cGen has active flag genccode or
% genmex.
% - The .c and .h files are generated in the directory s... |
github | kintzhao/rbpf-gmapping-master | genmfunfkine.m | .m | rbpf-gmapping-master/rvctools/robot/@CodeGenerator/genmfunfkine.m | 6,390 | utf_8 | 69e6b5140a99eee95fb2e3c9577e5e78 | %CODEGENERATOR.GENMFUNFKINE Generate M-function for forward kinematics
%
% cGen.genmfunfkine() generates a robot-specific M-function to compute
% forward kinematics.
%
% Notes::
% - Is called by CodeGenerator.genfkine if cGen has active flag genmfun
% - Access to generated function is provided via subclass of SerialLin... |
github | kintzhao/rbpf-gmapping-master | genccodefkine.m | .m | rbpf-gmapping-master/rvctools/robot/@CodeGenerator/genccodefkine.m | 7,426 | utf_8 | b6858c01ed76edd5f0411ccbe7789d7b | %CODEGENERATOR.GENCCODEFKINE Generate C-code for the forward kinematics
%
% cGen.genccodefkine() generates a robot-specific C-function to compute
% forward kinematics.
%
% Notes::
% - Is called by CodeGenerator.genfkine if cGen has active flag genccode or
% genmex
% - The generated .c and .h files are wirtten to the ... |
github | kintzhao/rbpf-gmapping-master | genslblockinertia.m | .m | rbpf-gmapping-master/rvctools/robot/@CodeGenerator/genslblockinertia.m | 7,731 | utf_8 | be03fea2c4b4614f48fc2665b3f93e2a | %CODEGENERATOR.GENSLBLOCKINERTIA Generate Simulink block for inertia matrix
%
% cGen.genslbgenslblockinertia() generates a robot-specific Simulink block to compute
% robot inertia matrix.
%
% Notes::
% - Is called by CodeGenerator.geninertia if cGen has active flag genslblock
% - The Inertia matrix is stored row by row... |
github | kintzhao/rbpf-gmapping-master | geninertia.m | .m | rbpf-gmapping-master/rvctools/robot/@CodeGenerator/geninertia.m | 3,135 | utf_8 | f9c9bdc56e4cf450535dd97d58f60ca0 | %CODEGENERATOR.GENINERTIA Generate code for inertia matrix
%
% I = cGen.geninertia() is the symbolic robot inertia matrix (NxN).
%
% Notes::
% - The inertia matrix is stored row by row to avoid memory issues.
% The generated code recombines these rows to output the full matrix.
% - Side effects of execution depends o... |
github | kintzhao/rbpf-gmapping-master | genccodegravload.m | .m | rbpf-gmapping-master/rvctools/robot/@CodeGenerator/genccodegravload.m | 4,457 | utf_8 | 301240cce2a8dafbd483966e3b3346bb | %CODEGENERATOR.GENCCODEGRAVLOAD Generate C-code for the vector of
%gravitational load torques/forces
%
% cGen.genccodegravload() generates a robot-specific C-function to compute
% vector of gravitational load torques/forces.
%
% Notes::
% - Is called by CodeGenerator.gengravload if cGen has active flag genccode or
% ... |
github | kintzhao/rbpf-gmapping-master | genslblockjacobian.m | .m | rbpf-gmapping-master/rvctools/robot/@CodeGenerator/genslblockjacobian.m | 3,733 | utf_8 | 5478fc087cb7c0fa6d398b7dc215bd42 | %CODEGENERATOR.GENSLBLOCKJACOBIAN Generate Simulink block for robot Jacobians
%
% cGen.genslblockjacobian() generates a robot-specific Simulink block to compute
% robot Jacobians (world and tool frame).
%
% Notes::
% - Is called by CodeGenerator.genjacobian if cGen has active flag genslblock
% - The Simulink blocks are... |
github | kintzhao/rbpf-gmapping-master | genslblockfkine.m | .m | rbpf-gmapping-master/rvctools/robot/@CodeGenerator/genslblockfkine.m | 3,716 | utf_8 | 8b609ea1de926b2330cb68f0fde6975c | %CODEGENERATOR.GENSLBLOCKFKINE Generate Simulink block for forward kinematics
%
% cGen.genslblockfkine() generates a robot-specific Simulink block to compute
% forward kinematics.
%
% Notes::
% - Is called by CodeGenerator.genfkine if cGen has active flag genslblock.
% - The Simulink blocks are generated and stored in ... |
github | kintzhao/rbpf-gmapping-master | genmfunfdyn.m | .m | rbpf-gmapping-master/rvctools/robot/@CodeGenerator/genmfunfdyn.m | 7,626 | utf_8 | 500e5ea124dcd6dfa891e992ad08bb95 | %CODEGENERATOR.GENMFUNFDYN Generate M-function for forward dynamics
%
% cGen.genmfunfdyn() generates a robot-specific M-function to compute
% the forward dynamics.
%
% Notes::
% - Is called by CodeGenerator.genfdyn if cGen has active flag genmfun
% - The generated M-function is composed of previously generated M-functi... |
github | kintzhao/rbpf-gmapping-master | genmexfkine.m | .m | rbpf-gmapping-master/rvctools/robot/@CodeGenerator/genmexfkine.m | 5,741 | utf_8 | 83870797f544846f89ef9854d1e05559 | %CODEGENERATOR.GENMEXFKINE Generate C-MEX-function for forward kinematics
%
% cGen.genmexfkine() generates a robot-specific MEX-function to compute
% forward kinematics.
%
% Notes::
% - Is called by CodeGenerator.genfkine if cGen has active flag genmex
% - The MEX file uses the .c and .h files generated in the director... |
github | kintzhao/rbpf-gmapping-master | gengaussjordanc.m | .m | rbpf-gmapping-master/rvctools/robot/@CodeGenerator/private/gengaussjordanc.m | 6,595 | utf_8 | b5cd5a20694f90ae1d370993944b2d02 | %CODEGENERATOR.GENGAUSSJORDANC Generates a Gauss-Jordan C-implementation.
%
% cGen.gengaussjordanc generates a .h and a .c file in the directory
% specified by ccodepath.
%
% Notes::
% - Is called by genfdyn if cGen has active flag genmex or genccode.
%
% Authors::
% Joern Malzahn (joern.malzahn@tu-dortmund.de)
%
%... |
github | kintzhao/rbpf-gmapping-master | replaceheader.m | .m | rbpf-gmapping-master/rvctools/robot/@CodeGenerator/private/replaceheader.m | 3,061 | utf_8 | a840a6e57084d718ae642cd0bc97b608 | %CODEGENERATOR.REPLACEHEADER Replace autogenerated function headers by Toolbox-headers.
%
% CGen.replaceheader(HSTRUCT,FILENAME)
% HSTRUCT is the struct defining the contents of the header.
% FILENAME is the relative or full path to the file that has an autogenerated
% header to be replaced.
%
% Notes::
% The MatLab bu... |
github | kintzhao/rbpf-gmapping-master | ffindreplace.m | .m | rbpf-gmapping-master/rvctools/robot/@CodeGenerator/private/ffindreplace.m | 2,398 | utf_8 | 6e06dc9170b815d0a26e6dec9a197cfe | %CODEGENERATOR.FFINDREPLACE Find and replace all occurrences of string in a file.
%
% CGen.ffindreplace(fName, oText, nText, varargin)
% FNAME is the absolute or relative path to the file to replace the text in.
% OTEXT is the text passage to replace.
% NTEXT is the new text.
%
% Notes::
% The function opens an... |
github | kintzhao/rbpf-gmapping-master | createmconstructor.m | .m | rbpf-gmapping-master/rvctools/robot/@CodeGenerator/private/createmconstructor.m | 2,435 | utf_8 | c27a7c2f7887f4bf516e27d598f044f3 | %CODEGENERATOR.CREATEMCONSTRUCTOR Creates the constructor of the specialized robot class collecting the generated m-function code.
%
% cGen.createmconstructor()
%
% Authors::
% Joern Malzahn, (joern.malzahn@tu-dortmund.de)
%
% See also CodeGenerator.genfkine, CodeGenerator.genmfunfkine.
% Copyright (C) 1993-2012,... |
github | kintzhao/rbpf-gmapping-master | mexfunctionrowwise.m | .m | rbpf-gmapping-master/rvctools/robot/@CodeGenerator/private/mexfunctionrowwise.m | 5,341 | utf_8 | 87dbab76a16c837b85b3cb7abf7fed63 | %MEXFUNCTION Converts a symbolic expression into a MEX-function
%
% [] = cGen.mexfunction(SYMEXPR, ARGLIST) translates a symbolic expression
% into C-code and joins it with a MEX gateway routine. The resulting C-file
% is ready to be compiled using the matlab built-in mex command.
%
% The argumentlist ARGLIST may conta... |
github | kintzhao/rbpf-gmapping-master | gendotprodc.m | .m | rbpf-gmapping-master/rvctools/robot/@CodeGenerator/private/gendotprodc.m | 3,887 | utf_8 | fb1a45faa8abcbe033b7ee469cb05303 | %CODEGENERATOR.GENDOTPRODC Generates a dot product C-implementation.
%
% cGen.gendotprodc generates a .h and a .c file in the directory
% specified by ccodepath.
%
% Notes::
% - Is called by geninvdyn if cGen has active flag genmex or genccode.
%
% Authors::
% Joern Malzahn (joern.malzahn@tu-dortmund.de)
%
% See al... |
github | kintzhao/rbpf-gmapping-master | genmexgatewaystring.m | .m | rbpf-gmapping-master/rvctools/robot/@CodeGenerator/private/genmexgatewaystring.m | 6,079 | utf_8 | 635ff345e9c370156a85192dc0c160ae | %GENMEXGATEWAYSTRING Generates a mex gateway function
%
% [FUNSTR] = genmexgatewaystring(SYMEXPR, ARGLIST) returns a string
% representing a C-code implementation of a mex gateway function.
%
% The argumentlist ARGLIST may contain the following property-value pairs
% PROPERTY, VALUE
% - 'funname', 'name_string'
% '... |
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