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values | md5 stringlengths 32 32 | text stringlengths 23 843k |
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github | RobinAmsters/GT_mobile_robotics-master | doesblockexist.m | .m | GT_mobile_robotics-master/common/rvctools/robot/doesblockexist.m | 1,690 | utf_8 | 8c3d04d595b2f2e7d26bdb692a63c7b6 | %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 symexpr2... |
github | RobinAmsters/GT_mobile_robotics-master | plotbotopt.m | .m | GT_mobile_robotics-master/common/rvctools/robot/plotbotopt.m | 1,024 | utf_8 | d73b36da5fc6f18299eceba1ff5438a9 | %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) 1993-2017, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
%
% RTB i... |
github | RobinAmsters/GT_mobile_robotics-master | jtraj.m | .m | GT_mobile_robotics-master/common/rvctools/robot/jtraj.m | 3,099 | utf_8 | d2a0b895ed85f50c11229499ed78b964 | %JTRAJ Compute a joint space trajectory
%
% [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.
% Time is assumed to vary from 0... |
github | RobinAmsters/GT_mobile_robotics-master | simulinkext.m | .m | GT_mobile_robotics-master/common/rvctools/robot/simulinkext.m | 1,609 | utf_8 | 3c852724210e0c51e67283a9079f2a28 | %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 ... |
github | RobinAmsters/GT_mobile_robotics-master | Dubbins.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Dubbins.m | 11,339 | utf_8 | 0b0b1d5e711aa199849ecc7bc3f33e5a | % Dubbins path planner sample code
%
% P = Dubbins(q0, qf, maxc, dl) finds the shortest path between configurations
% q0 and qf where each is a vector [x y theta]. maxc is the maximum curvature
%
% The robot can only move forwards and the path consists of 3 segments
% which have zero or maximum curvature maxc. There ... |
github | RobinAmsters/GT_mobile_robotics-master | eulplot.m | .m | GT_mobile_robotics-master/common/rvctools/robot/eulplot.m | 1,112 | utf_8 | fd8e283f35c793926d0d5ecba2c99a7d |
% Copyright (C) 1993-2017, 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, ... |
github | RobinAmsters/GT_mobile_robotics-master | tpoly.m | .m | GT_mobile_robotics-master/common/rvctools/robot/tpoly.m | 4,753 | utf_8 | f20c5d817480deea50f0e188c4f9ad87 | %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) respectively.
%
% TPOLY(S0, SF, M) as abo... |
github | RobinAmsters/GT_mobile_robotics-master | models.m | .m | GT_mobile_robotics-master/common/rvctools/robot/models.m | 3,393 | utf_8 | 29eb9c620a850baf86f3c248256a91cf | %MODELS Summarise and search available robot models
%
% MODELS() lists keywords associated with each of the models in Robotics Toolbox.
%
% MODELS(QUERY) lists those models that match the keyword QUERY. Case is
% ignored in the comparison.
%
% M = MODELS(QUERY) as above but returns a cell array (Nx1) of the names of t... |
github | RobinAmsters/GT_mobile_robotics-master | mstraj.m | .m | GT_mobile_robotics-master/common/rvctools/robot/mstraj.m | 8,016 | utf_8 | 8469f3b14161a23681a08daf1b228f37 | %MSTRAJ Multi-segment multi-axis trajectory
%
% TRAJ = MSTRAJ(WP, 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 def... |
github | RobinAmsters/GT_mobile_robotics-master | getprofilefunctionstats.m | .m | GT_mobile_robotics-master/common/rvctools/robot/getprofilefunctionstats.m | 1,652 | utf_8 | cae43e948e7e87341a4a673e3632306d | %GETPROFILEFUNCTIONSTATS Summary of this function goes here
% Detailed explanation goes here
%
% Author::
% Joern Malzahn, (joern.malzahn@tu-dortmund.de)
% Copyright (C) 2012-2018, by Joern Malzahn
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
%
% RTB is free software: you can redistribut... |
github | RobinAmsters/GT_mobile_robotics-master | distancexform.m | .m | GT_mobile_robotics-master/common/rvctools/robot/distancexform.m | 10,892 | utf_8 | 56921fa7d195c8b78a6abcb4c4a16ddc | %DISTANCEXFORM Distance transform
%
% D = DISTANCEXFORM(IM, OPTIONS) is the distance transform of the binary
% image IM. The elements of D have a value equal to the shortest distance
% from that element to a non-zero pixel in the input image IM.
%
% D = DISTANCEXFORM(OCCGRID, GOAL, OPTIONS) is the distance transform of... |
github | RobinAmsters/GT_mobile_robotics-master | makemap.m | .m | GT_mobile_robotics-master/common/rvctools/robot/makemap.m | 5,470 | utf_8 | 8fab1c7703f28487379400116dfa57bf | %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 | RobinAmsters/GT_mobile_robotics-master | EKF.m | .m | GT_mobile_robotics-master/common/rvctools/robot/EKF.m | 38,292 | utf_8 | efc593dc23cb6c974db0aca7305b3924 | %EKF Extended Kalman Filter for navigation
%
% Extended Kalman filter for optimal estimation of state from noisy
% measurments given a non-linear dynamic model. This class is specific to
% the problem of state estimation for a vehicle moving in SE(2).
%
% This class can be used for:
% - dead reckoning localization
%... |
github | RobinAmsters/GT_mobile_robotics-master | startup_rtb.m | .m | GT_mobile_robotics-master/common/rvctools/robot/startup_rtb.m | 2,933 | utf_8 | 6686fddd89b8991e00972cc00b0f85aa | %STARTUP_RTB Initialize MATLAB paths for Robotics Toolbox
%
% Adds demos, data, contributed code and examples to the MATLAB path, and adds also to
% Java class path.
%
% Notes::
% - This sets the paths for the current session only.
% - To make the settings persistent across sessions you can:
% - Add this script to y... |
github | RobinAmsters/GT_mobile_robotics-master | delta2tr.m | .m | GT_mobile_robotics-master/common/rvctools/robot/delta2tr.m | 1,233 | utf_8 | fd7fb8d433dcdff76ec180253a34ec45 | %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 | RobinAmsters/GT_mobile_robotics-master | ctraj.m | .m | GT_mobile_robotics-master/common/rvctools/robot/ctraj.m | 2,109 | utf_8 | cb005b9fbd6614032f309fd2dfe28eea | %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 | RobinAmsters/GT_mobile_robotics-master | rtbdemo.m | .m | GT_mobile_robotics-master/common/rvctools/robot/rtbdemo.m | 7,904 | utf_8 | 6cd0b596b9ecb4058ec2c46f2ea79c23 | %RTBDEMO Robot toolbox demonstrations
%
% rtbdemo displays a menu of toolbox demonstration scripts that illustrate:
% - fundamental datatypes
% - rotation and homogeneous transformation matrices
% - quaternions
% - trajectories
% - serial link manipulator arms
% - forward and inverse kinematics
% ... |
github | RobinAmsters/GT_mobile_robotics-master | symexpr2slblock.m | .m | GT_mobile_robotics-master/common/rvctools/robot/symexpr2slblock.m | 3,224 | utf_8 | 4f0f8a64a5284a0570329322a4f24417 | %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 ... |
github | RobinAmsters/GT_mobile_robotics-master | plot_vehicle.m | .m | GT_mobile_robotics-master/common/rvctools/robot/plot_vehicle.m | 7,750 | utf_8 | 22444c9c63225df884542619910283e2 | %plot_vehicle Draw mobile robot pose
%
% PLOT_VEHICLE(X,OPTIONS) draws an oriented triangle to represent the pose
% of a mobile robot moving in a planar world. The pose X (1x3) = [x,y,theta].
% If X is a matrix (Nx3) then an animation of the robot motion is shown and
% animated at the specified frame rate.
%
% Image m... |
github | RobinAmsters/GT_mobile_robotics-master | multidfprintf.m | .m | GT_mobile_robotics-master/common/rvctools/robot/multidfprintf.m | 2,127 | utf_8 | 269527702c93cdc5c3b7ffcc62415799 | %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 sim... |
github | RobinAmsters/GT_mobile_robotics-master | Link.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Link.m | 40,102 | utf_8 | 4a5eaa697b66710d52413e6460dbbac2 | %LinkRobot manipulator Link class
%
% A Link object holds all information related to a robot joint and link such as
% kinematics parameters, rigid-body inertial parameters, motor and
% transmission parameters.
%
% Constructors::
% Link general constructor
% Prismatic construct a prismatic joint+link us... |
github | RobinAmsters/GT_mobile_robotics-master | chi2inv_rtb.m | .m | GT_mobile_robotics-master/common/rvctools/robot/chi2inv_rtb.m | 2,719 | utf_8 | 4423a2dd1fe3d30b8b42770183814f06 | %CHI2INV_RTB Inverse chi-squared function
%
% X = CHI2INV_RTB(P, N) is the inverse chi-squared CDF function of N-degrees of freedom.
%
% Notes::
% - only works for N=2
% - uses a table lookup with around 6 figure accuracy
% - an approximation to chi2inv() from the Statistics & Machine Learning Toolbox
%
% See also chi2... |
github | RobinAmsters/GT_mobile_robotics-master | urdfparse.m | .m | GT_mobile_robotics-master/common/rvctools/robot/urdfparse.m | 9,788 | utf_8 | d0af7861ce0ee091003833312f7cbaaf | function urdf = urdfparse(filename)
root = xmlread(filename);
robot = root.getElementsByTagName('robot').item(0);
%% process all the materials elements
% - these are optional but we do them first because link elements
% reference them
materialNodes = getChildrenByTagName(ro... |
github | RobinAmsters/GT_mobile_robotics-master | genslblockinvdyn.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genslblockinvdyn.m | 5,724 | utf_8 | afad377845919de9ebcb17abab541250 | %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... |
github | RobinAmsters/GT_mobile_robotics-master | genccodeinertia.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genccodeinertia.m | 8,186 | utf_8 | b5b74e2dfe3efe794b0b2d5e95b6c1b8 | %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 fil... |
github | RobinAmsters/GT_mobile_robotics-master | genccodecoriolis.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genccodecoriolis.m | 8,395 | utf_8 | 7cbd3d0c1dc4484f93e8bbf65eb3d5c8 | %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... |
github | RobinAmsters/GT_mobile_robotics-master | genmexinvdyn.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genmexinvdyn.m | 4,996 | utf_8 | 291a151d3346724fcd00c543d7550c7b | %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 ... |
github | RobinAmsters/GT_mobile_robotics-master | genmexfriction.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genmexfriction.m | 3,721 | utf_8 | a9814b9b6e885a481dec4d4c55d862f5 | %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 gen... |
github | RobinAmsters/GT_mobile_robotics-master | genmexfdyn.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genmexfdyn.m | 5,183 | utf_8 | eb8eeeda2303e75caec906da342beb0d | %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 dir... |
github | RobinAmsters/GT_mobile_robotics-master | genslblockcoriolis.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genslblockcoriolis.m | 6,317 | utf_8 | ee2b01938ede7878ddb96596bfb7cc30 | %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 stor... |
github | RobinAmsters/GT_mobile_robotics-master | geninvdyn.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/geninvdyn.m | 4,980 | utf_8 | 62f5f73b6e665fa36c21bf895c0aef31 | %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 sp... |
github | RobinAmsters/GT_mobile_robotics-master | genfkine.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genfkine.m | 3,511 | utf_8 | e22c5af005a287a72b445b3bc1363c1c | %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 ... |
github | RobinAmsters/GT_mobile_robotics-master | genmfunjacobian.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genmfunjacobian.m | 6,072 | utf_8 | b7cac95f384568941c0b6461f9e59d9a | %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... |
github | RobinAmsters/GT_mobile_robotics-master | genslblockgravload.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genslblockgravload.m | 2,915 | utf_8 | deff8478f55341abff93ff093a15d52a | %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... |
github | RobinAmsters/GT_mobile_robotics-master | gengravload.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/gengravload.m | 2,920 | utf_8 | bd14a1fd4ffcb79057a1eaa18024a62b | %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 d... |
github | RobinAmsters/GT_mobile_robotics-master | genslblockfriction.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genslblockfriction.m | 2,955 | utf_8 | 21e05afc6f65d9a2d1d0660c7d75833e | %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 generat... |
github | RobinAmsters/GT_mobile_robotics-master | genmfunfriction.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genmfunfriction.m | 3,964 | utf_8 | d7fb64be7541246dfe5f3e5eb6e563e7 | %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 cl... |
github | RobinAmsters/GT_mobile_robotics-master | genmexcoriolis.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genmexcoriolis.m | 6,232 | utf_8 | 376fb3e5f05318511bb33842a1088824 | %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 gen... |
github | RobinAmsters/GT_mobile_robotics-master | genmfungravload.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genmfungravload.m | 4,085 | utf_8 | d7da7274a9cd09da0e2ad7fb2004f6a4 | %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 ... |
github | RobinAmsters/GT_mobile_robotics-master | genslblockfdyn.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genslblockfdyn.m | 6,354 | utf_8 | 8e9eae404cfb48d1211f10cba1a37699 | %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 previ... |
github | RobinAmsters/GT_mobile_robotics-master | genmexinertia.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genmexinertia.m | 6,022 | utf_8 | 2885568f8638b139afbe322bb4e162e2 | %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 generate... |
github | RobinAmsters/GT_mobile_robotics-master | genjacobian.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genjacobian.m | 3,105 | utf_8 | fcde6fa80b8188dab9370059f48c6bf7 | %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) expresse... |
github | RobinAmsters/GT_mobile_robotics-master | genmexjacobian.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genmexjacobian.m | 5,809 | utf_8 | 769e393febe884ab0c876ab91987b9ac | %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 fla... |
github | RobinAmsters/GT_mobile_robotics-master | genfdyn.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genfdyn.m | 4,945 | utf_8 | d074c077f64223415710f3dee7669505 | %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 sp... |
github | RobinAmsters/GT_mobile_robotics-master | gencoriolis.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/gencoriolis.m | 3,271 | utf_8 | 610b6561d71cb22797305e5e86f83607 | %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 m... |
github | RobinAmsters/GT_mobile_robotics-master | genccodefdyn.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genccodefdyn.m | 8,471 | utf_8 | 06687706e358e81992fc0772aef81413 | %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 director... |
github | RobinAmsters/GT_mobile_robotics-master | genmexgravload.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genmexgravload.m | 3,809 | utf_8 | 95249b29ad89b9de4377217b7f4044ef | %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 ... |
github | RobinAmsters/GT_mobile_robotics-master | genccodefriction.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genccodefriction.m | 4,427 | utf_8 | 2eb6f6400cf827015abfcbe17a999fb1 | %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 ... |
github | RobinAmsters/GT_mobile_robotics-master | logmsg.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/logmsg.m | 2,036 | utf_8 | 2436af4090a0f6d9e9844e979169f194 | %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). T... |
github | RobinAmsters/GT_mobile_robotics-master | genmfuncoriolis.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genmfuncoriolis.m | 7,000 | utf_8 | b7c51342bc78385a5e666aa6d2c05fca | %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 m... |
github | RobinAmsters/GT_mobile_robotics-master | genmfuninertia.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genmfuninertia.m | 6,637 | utf_8 | a4f2e4e44a8a5fd374e40f7262c76406 | %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... |
github | RobinAmsters/GT_mobile_robotics-master | genfriction.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genfriction.m | 2,873 | utf_8 | 249a2f1d069ecc943808440dca0baf26 | %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 cG... |
github | RobinAmsters/GT_mobile_robotics-master | genccodejacobian.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genccodejacobian.m | 7,361 | utf_8 | fae915fcd1ebfbab22c51a50cf6ddd2a | %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 ... |
github | RobinAmsters/GT_mobile_robotics-master | genmfuninvdyn.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genmfuninvdyn.m | 5,357 | utf_8 | 33b9d3ed4432a00d0db5f7a3b96e2d0f | %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 generat... |
github | RobinAmsters/GT_mobile_robotics-master | genccodeinvdyn.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genccodeinvdyn.m | 8,084 | utf_8 | 63bb90993fadc9d1e626689792ee26fc | %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 dir... |
github | RobinAmsters/GT_mobile_robotics-master | genmfunfkine.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genmfunfkine.m | 6,536 | utf_8 | 0bc4348782a4ebdd012388967a6f647e | %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 Se... |
github | RobinAmsters/GT_mobile_robotics-master | genccodefkine.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genccodefkine.m | 7,649 | utf_8 | a418fbd3ca20f226e0b1b8bf9ad90e25 | %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... |
github | RobinAmsters/GT_mobile_robotics-master | genslblockinertia.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genslblockinertia.m | 7,916 | utf_8 | 5a887f4106ba9ad23136714e42238dfb | %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... |
github | RobinAmsters/GT_mobile_robotics-master | geninertia.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/geninertia.m | 3,230 | utf_8 | 51f1f4564b3b247968023865edd6e009 | %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 de... |
github | RobinAmsters/GT_mobile_robotics-master | genccodegravload.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genccodegravload.m | 4,591 | utf_8 | acf3c492e810b6f39a8316024060f23c | %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 ... |
github | RobinAmsters/GT_mobile_robotics-master | genslblockjacobian.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genslblockjacobian.m | 3,835 | utf_8 | bc03280451d3efff3953c11d5517b9ac | %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 blo... |
github | RobinAmsters/GT_mobile_robotics-master | genslblockfkine.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genslblockfkine.m | 3,829 | utf_8 | 5b4703a7c085b86a61340e8f257bb502 | %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 sto... |
github | RobinAmsters/GT_mobile_robotics-master | genmfunfdyn.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genmfunfdyn.m | 7,802 | utf_8 | 9294c682375b50e7be5d15fec731151d | %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... |
github | RobinAmsters/GT_mobile_robotics-master | genmexfkine.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/genmexfkine.m | 5,869 | utf_8 | 072591863c353293642ac20d685a9e26 | %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 d... |
github | RobinAmsters/GT_mobile_robotics-master | gengaussjordanc.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/private/gengaussjordanc.m | 6,903 | utf_8 | 5f38ad2847d7c72550af20ec560b0091 | %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... |
github | RobinAmsters/GT_mobile_robotics-master | replaceheader.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/private/replaceheader.m | 3,138 | utf_8 | d97bfc9ab9c0179cce2fb9501d843416 | %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 M... |
github | RobinAmsters/GT_mobile_robotics-master | ffindreplace.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/private/ffindreplace.m | 2,477 | utf_8 | a1601d071fd66ed97f1660b3e2c2360c | %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 ... |
github | RobinAmsters/GT_mobile_robotics-master | createmconstructor.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/private/createmconstructor.m | 2,503 | utf_8 | 5cfd4be539ea29857cbe7f50f31a41b7 | %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) 1... |
github | RobinAmsters/GT_mobile_robotics-master | mexfunctionrowwise.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/private/mexfunctionrowwise.m | 5,495 | utf_8 | 93572d05950dd529cd66565fc95ce739 | %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... |
github | RobinAmsters/GT_mobile_robotics-master | gendotprodc.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/private/gendotprodc.m | 4,005 | utf_8 | a3d8b369a875e0d81802ac04de3617d6 | %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)
... |
github | RobinAmsters/GT_mobile_robotics-master | genmexgatewaystring.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/private/genmexgatewaystring.m | 6,250 | utf_8 | 3867ec5d50475db795eb1075fd926a80 | %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... |
github | RobinAmsters/GT_mobile_robotics-master | getpibugfixstring.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/private/getpibugfixstring.m | 2,208 | utf_8 | 31ba4fc3a8c2f06af6c3cb2d844140af | %CODEGENERATOR.GETPIBUGFIXSTRING Returns a string to fix PI-Bug in auto genereated functions.
%
% bfixString = cGen.getPiBugfixString() Is the string with explanation comment
% and variable declaration as described below.
%
% Notes::
% In some versions the symbolic toolbox writes the constant $pi$ in
% capi... |
github | RobinAmsters/GT_mobile_robotics-master | genmatvecprodc.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/private/genmatvecprodc.m | 4,521 | utf_8 | 6d83466255b1dddae8de802f25a5e52e | %CODEGENERATOR.GENMATVECPRODC Generates a matrix-vector product C-implementation.
%
% cGen.gendotprodc generates a .h and a .c file in the directory
% specified by ccodepath.
%
% Notes::
% - Is called by geninvdyn and genfdyn if cGen has active flag genmex or genccode.
%
% Authors::
% Joern Malzahn (joern.m... |
github | RobinAmsters/GT_mobile_robotics-master | mexfunction.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/private/mexfunction.m | 5,325 | utf_8 | c949fe9c525e5caa5983bb6b6af3efc1 | %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... |
github | RobinAmsters/GT_mobile_robotics-master | constructheaderstringc.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/private/constructheaderstringc.m | 8,788 | utf_8 | 548ed9f487884f775aee44949e490f1e | %CODEGENERATOR.CONSTRUCTHEADERSTRINGC Creates common toolbox header string.
%
% HFSTRING = CGen.constructheaderstringc(HSTRUCT) is the formatted header
% string.
% HSTRUCT is the header content struct
%
% Notes::
% The contents of the header are coded in a struct that is the input
% parameter and has the foll... |
github | RobinAmsters/GT_mobile_robotics-master | finsertfront.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/private/finsertfront.m | 2,406 | utf_8 | 9b6cb8a19f152fb355999afdaa253882 | %CODEGENERATOR.FINSERTFRONT Insert a string at the beginning of a textfile.
%
% cGen.finsertfront(FNAME,NTEXT)
% FNAME is the full or relative path to the text file.
% NTEXT is the string containing the text to be inserted at the beginning
% of the file.
%
% Notes::
% MatLab ships with functions for reading, ... |
github | RobinAmsters/GT_mobile_robotics-master | constructheaderstring.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@CodeGenerator/private/constructheaderstring.m | 7,035 | utf_8 | 3d9e9ae8d5e39a036b9315489ef211bb | %CODEGENERATOR.CONSTRUCTHEADERSTRING Creates common toolbox header string.
%
% HFSTRING = CGen.constructheaderstring(HSTRUCT) is the formatted header
% string.
% HSTRUCT is the geader content struct
%
% Notes::
% The contents of the header are coded in a struct that is the input
% parameter and has the follow... |
github | RobinAmsters/GT_mobile_robotics-master | SerialLink.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/SerialLink.m | 42,158 | utf_8 | b461733844a23ff0905fde5becd05682 | %SerialLink Serial-link robot class
%
% A concrete class that represents a serial-link arm-type robot. Each link
% and joint in the chain is described by a Link-class object using Denavit-Hartenberg
% parameters (standard or modified).
%
% Constructor methods::
% SerialLink general constructor
% L1+L2 con... |
github | RobinAmsters/GT_mobile_robotics-master | issym.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/issym.m | 1,043 | utf_8 | 1d11b932d09bfdcc039ecd115b9cd438 | %SerialLink.issym Test if SerialLink object is a symbolic model
%
% res = R.issym() is true if the SerialLink manipulator R has symbolic parameters
%
%
% Authors::
% Joern Malzahn, (joern.malzahn@tu-dortmund.de)
% Copyright (C) 1993-2015, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RT... |
github | RobinAmsters/GT_mobile_robotics-master | jacobe.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/jacobe.m | 2,961 | utf_8 | afda232f238c1e331b26793f937144fa | %SerialLink.JACOBE Jacobian in end-effector frame
%
% JE = R.jacobe(Q, options) is the Jacobian matrix (6xN) for the robot in
% pose Q, and N is the number of robot joints. The manipulator Jacobian
% matrix maps joint velocity to end-effector spatial velocity V = JE*QD in
% the end-effector frame.
%
% Options::
% 'tran... |
github | RobinAmsters/GT_mobile_robotics-master | ikunc.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/ikunc.m | 4,719 | utf_8 | 1d82a041e3a282450a9a5b724446273a | %SerialLink.IKUNC Inverse manipulator by optimization without joint limits
%
% Q = R.ikunc(T, OPTIONS) are the joint coordinates (1xN) corresponding to
% the robot end-effector pose T which is an SE3 object or homogenenous
% transform matrix (4x4), and N is the number of robot joints. OPTIONS is
% an optional list of n... |
github | RobinAmsters/GT_mobile_robotics-master | plot.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/plot.m | 18,142 | utf_8 | c8c9bbc9fb1aa83eea142f7ad9341924 | %SerialLink.plot Graphical display and animation
%
% R.plot(Q, options) displays a graphical animation of a robot based on
% the kinematic model. A stick figure polyline joins the origins of
% the link coordinate frames. The robot is displayed at the joint angle Q (1xN), or
% if a matrix (MxN) it is animated as the ro... |
github | RobinAmsters/GT_mobile_robotics-master | ikine_sym.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/ikine_sym.m | 16,660 | utf_8 | 437cd4e4973950c9bd45c54904a8210f | %IKINE_SYM Symbolic inverse kinematics
%
% Q = R.IKINE_SYM(K, OPTIONS) is a cell array (Cx1) of inverse kinematic
% solutions of the SerialLink object ROBOT. The cells of Q represent the
% solutions for each joint, ie. Q{1} is the solution for joint 1. A
% cell may contain an array of solutions. The solution is expr... |
github | RobinAmsters/GT_mobile_robotics-master | plot3d.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/plot3d.m | 13,532 | utf_8 | db7ed553d5634d27afb194506cae380f | %SerialLink.plot3d Graphical display and animation of solid model robot
%
% R.plot3d(Q, options) displays and animates a solid model of the robot.
% The robot is displayed at the joint angle Q (1xN), or
% if a matrix (MxN) it is animated as the robot moves along the M-point trajectory.
%
% Options::
%
% 'color',C ... |
github | RobinAmsters/GT_mobile_robotics-master | rne_dh.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/rne_dh.m | 6,612 | utf_8 | 826f70e838ec9902b53100dda5d3cb90 |
%SERIALLINK.RNE_DH Compute inverse dynamics via recursive Newton-Euler formulation
%
% Recursive Newton-Euler for standard Denavit-Hartenberg notation. Is invoked by
% R.RNE().
%
% See also SERIALLINK.RNE.
%
% verified against MAPLE code, which is verified by examples
%
% Copyright (C) 1993-2017, by Peter I. Co... |
github | RobinAmsters/GT_mobile_robotics-master | ikine6s.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/ikine6s.m | 29,745 | utf_8 | 73568086460517827592855df7980c12 | %SerialLink.ikine6s Analytical inverse kinematics
%
% Q = R.ikine(T) are the joint coordinates (1xN) corresponding to the robot
% end-effector pose T which is an SE3 object or homogenenous transform
% matrix (4x4), and N is the number of robot joints. This is a analytic
% solution for a 6-axis robot with a spherical w... |
github | RobinAmsters/GT_mobile_robotics-master | jacob0.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/jacob0.m | 3,646 | utf_8 | cefe7b33dd972bd5a59120a2aa180511 | %SerialLink.JACOB0 Jacobian in world coordinates
%
% J0 = R.jacob0(Q, OPTIONS) is the Jacobian matrix (6xN) for the robot in
% pose Q (1xN), and N is the number of robot joints. The manipulator
% Jacobian matrix maps joint velocity to end-effector spatial velocity V =
% J0*QD expressed in the world-coordinate frame.
%... |
github | RobinAmsters/GT_mobile_robotics-master | qmincon.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/qmincon.m | 3,020 | utf_8 | d668a698e2a7ddc924cee8c0285574a1 | %SerialLink.QMINCON Use redundancy to avoid joint limits
%
% QS = R.qmincon(Q) exploits null space motion and returns a set of joint
% angles QS (1xN) that result in the same end-effector pose but are away
% from the joint coordinate limits. N is the number of robot joints.
%
% [Q,ERR] = R.qmincon(Q) as above but also... |
github | RobinAmsters/GT_mobile_robotics-master | jacob_dot.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/jacob_dot.m | 2,857 | utf_8 | a77ef304c00af50fae51408192670c83 | %SerialLink.jacob_dot Derivative of Jacobian
%
% JDQ = R.jacob_dot(Q, QD) is the product (6x1) of the derivative of the
% Jacobian (in the world frame) and the joint rates.
%
% Notes::
% - This term appears in the formulation for operational space control XDD = J(Q)QDD + JDOT(Q)QD
% - Written as per the reference and n... |
github | RobinAmsters/GT_mobile_robotics-master | genforces.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/genforces.m | 1,041 | utf_8 | 5d93fc7e2f784513c9f4877a3c9c1632 | %SerialLink.genforces Vector of symbolic generalized forces
%
% Q = R.genforces() is a vector (1xN) of symbols [Q1 Q2 ... QN].
%
% See also SerialLink.gencoords.
% Copyright (C) 1993-2017, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
%
% RTB is free software: you can redistribut... |
github | RobinAmsters/GT_mobile_robotics-master | gravload.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/gravload.m | 1,702 | utf_8 | e69104458a273c682f92379c2b29b1a9 | %SerialLink.gravload Gravity load on joints
%
% TAUG = R.gravload(Q) is the joint gravity loading (1xN) for the robot R
% in the joint configuration Q (1xN), where N is the number of robot
% joints. Gravitational acceleration is a property of the robot object.
%
% If Q is a matrix (MxN) each row is interpreted as a jo... |
github | RobinAmsters/GT_mobile_robotics-master | vellipse.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/vellipse.m | 3,056 | utf_8 | 4b4838d955c054ccbbfaa3ab5dba1f31 | %SerialLink.vellipse Velocity ellipsoid for seriallink manipulator
%
% R.vellipse(Q, OPTIONS) displays the velocity ellipsoid for the
% robot R at pose Q. The ellipsoid is centered at the tool tip position.
%
% Options::
% '2d' Ellipse for translational xy motion, for planar manipulator
% 'trans' Ellipsoid f... |
github | RobinAmsters/GT_mobile_robotics-master | ikinem.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/ikinem.m | 5,810 | utf_8 | 08dfd56edbd04dcc5e0e637cc50fc21d | %SerialLink.IKINEM Numerical inverse kinematics by minimization
%
% Q = R.ikinem(T) is the joint coordinates corresponding to the robot
% end-effector pose T which is a homogenenous transform.
%
% Q = R.ikinem(T, Q0, OPTIONS) specifies the initial estimate of the joint
% coordinates.
%
% In all cases if T is 4x4xM it i... |
github | RobinAmsters/GT_mobile_robotics-master | friction.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/friction.m | 1,966 | utf_8 | 2f63bbaee7c50862ade7f84192f16f6b | %SerialLink.friction Friction force
%
% TAU = R.friction(QD) is the vector of joint friction forces/torques for the
% robot moving with joint velocities QD.
%
% The friction model includes:
% - Viscous friction which is a linear function of velocity.
% - Coulomb friction which is proportional to sign(QD).
%
% Notes:... |
github | RobinAmsters/GT_mobile_robotics-master | collisions.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/collisions.m | 4,903 | utf_8 | 3b172dbfe4909f80182d48722b7761e6 | %SerialLink.COLLISIONS Perform collision checking
%
% C = R.collisions(Q, MODEL) is true if the SerialLink object R at
% pose Q (1xN) intersects the solid model MODEL which belongs to the
% class CollisionModel. The model comprises a number of geometric
% primitives with an associated pose.
%
% C = R.collisions(Q, MOD... |
github | RobinAmsters/GT_mobile_robotics-master | ikine3.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/ikine3.m | 4,301 | utf_8 | 0a1f619c4a4671a44dca93db19af5ac2 | %SerialLink.ikine3 Inverse kinematics for 3-axis robot with no wrist
%
% Q = R.ikine3(T) is the joint coordinates (1x3) corresponding to the robot
% end-effector pose T represented by the homogenenous transform. This
% is a analytic solution for a 3-axis robot (such as the first three joints
% of a robot like the Puma... |
github | RobinAmsters/GT_mobile_robotics-master | ikine.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/ikine.m | 10,470 | utf_8 | 13f34d241c03545c512d37dda5779124 | %SerialLink.ikine Inverse kinematics by optimization without joint limits
%
% Q = R.ikine(T) are the joint coordinates (1xN) corresponding to the robot
% end-effector pose T which is an SE3 object or homogenenous transform
% matrix (4x4), and N is the number of robot joints.
%
% This method can be used for robots with ... |
github | RobinAmsters/GT_mobile_robotics-master | nofriction.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/nofriction.m | 1,579 | utf_8 | 92710a0f362f8f1fc80900ceeb4aaa7a | %SerialLink.nofriction Remove friction
%
% RNF = R.nofriction() is a robot object with the same parameters as R but
% with non-linear (Coulomb) friction coefficients set to zero.
%
% RNF = R.nofriction('all') as above but viscous and Coulomb friction coefficients set to zero.
%
% RNF = R.nofriction('viscous') as ab... |
github | RobinAmsters/GT_mobile_robotics-master | pay.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/pay.m | 2,575 | utf_8 | 9c930f4b5b2fda7f91379e7eabd4c522 | %SerialLink.PAY Joint forces due to payload
%
% TAU = R.PAY(W, J) returns the generalised joint force/torques due to a
% payload wrench W (1x6) and where the manipulator Jacobian is J (6xN), and
% N is the number of robot joints.
%
% TAU = R.PAY(Q, W, F) as above but the Jacobian is calculated at pose Q
% (1xN) in the ... |
github | RobinAmsters/GT_mobile_robotics-master | coriolis.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/coriolis.m | 3,894 | utf_8 | ba7c5409a3fedb513910bbd572655c64 | %SerialLink.coriolis Coriolis matrix
%
% C = R.coriolis(Q, QD) is the Coriolis/centripetal matrix (NxN) for
% the robot in configuration Q and velocity QD, where N is the number of
% joints. The product C*QD is the vector of joint force/torque due to velocity
% coupling. The diagonal elements are due to centripetal e... |
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