plateform stringclasses 1
value | repo_name stringlengths 13 113 | name stringlengths 3 74 | ext stringclasses 1
value | path stringlengths 12 229 | size int64 23 843k | source_encoding stringclasses 9
values | md5 stringlengths 32 32 | text stringlengths 23 843k |
|---|---|---|---|---|---|---|---|---|
github | RobinAmsters/GT_mobile_robotics-master | ikcon.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/ikcon.m | 4,777 | utf_8 | 6280fb801405a6b8a91539e63609e98f | %SerialLink.IKCON Inverse kinematics by optimization with joint limits
%
% Q = R.ikcon(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 name/... |
github | RobinAmsters/GT_mobile_robotics-master | accel.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/accel.m | 3,676 | utf_8 | 42821333a63ef7022599dba3741d4d4d | %SerialLink.accel Manipulator forward dynamics
%
% QDD = R.accel(Q, QD, TORQUE) is a vector (Nx1) of joint accelerations that result
% from applying the actuator force/torque (1xN) to the manipulator robot R in
% state Q (1xN) and QD (1xN), and N is the number of robot joints.
%
% If Q, QD, TORQUE are matrices (KxN) t... |
github | RobinAmsters/GT_mobile_robotics-master | itorque.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/itorque.m | 1,454 | utf_8 | d9772d233f666445737e6d06f55011e3 | %SerialLink.itorque Inertia torque
%
% TAUI = R.itorque(Q, QDD) is the inertia force/torque vector (1xN) at the
% specified joint configuration Q (1xN) and acceleration QDD (1xN), and N
% is the number of robot joints. TAUI = INERTIA(Q)*QDD.
%
% If Q and QDD are matrices (KxN), each row is interpretted as a joint state... |
github | RobinAmsters/GT_mobile_robotics-master | rne_mdh.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/rne_mdh.m | 5,106 | utf_8 | ef0ee9390e2f669674340d0eb6b5bb43 |
%SERIALLINK.RNE_MDH Compute inverse dynamics via recursive Newton-Euler formulation
%
% Recursive Newton-Euler for modified Denavit-Hartenberg notation. Is invoked by
% R.RNE().
%
% See also SERIALLINK.RNE.
% Copyright (C) 1993-2017, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB... |
github | RobinAmsters/GT_mobile_robotics-master | paycap.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/paycap.m | 2,622 | utf_8 | ea961f604dbe3edd92ea5316e85fdd55 | %SerialLink.PAYCAP Static payload capacity of a robot
%
% [WMAX,J] = R.paycap(Q, W, F, TLIM) returns the maximum permissible
% payload wrench WMAX (1x6) applied at the end-effector, and the index of
% the joint J which hits its force/torque limit at that wrench. Q (1xN) is
% the manipulator pose, W the payload wrench ... |
github | RobinAmsters/GT_mobile_robotics-master | gencoords.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/gencoords.m | 1,518 | utf_8 | cd6af91af514831c29cb5821e5915971 | %SerialLink.gencoords Vector of symbolic generalized coordinates
%
% Q = R.gencoords() is a vector (1xN) of symbols [q1 q2 ... qN].
%
% [Q,QD] = R.gencoords() as above but QD is a vector (1xN) of
% symbols [qd1 qd2 ... qdN].
%
% [Q,QD,QDD] = R.gencoords() as above but QDD is a vector (1xN) of
% symbols [qdd1 qdd2 ...... |
github | RobinAmsters/GT_mobile_robotics-master | animate.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/animate.m | 6,154 | utf_8 | dc17434a47ea0147748069dcb9dc3b44 | %SerialLink.animate Update a robot animation
%
% R.animate(q) updates an existing animation for the robot R. This will have
% been created using R.plot(). Updates graphical instances of this robot in all figures.
%
% Notes::
% - Called by plot() and plot3d() to actually move the arm models.
% - Used for Simulink rob... |
github | RobinAmsters/GT_mobile_robotics-master | perturb.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/perturb.m | 1,629 | utf_8 | d39527df13f484d5f4ccbc649550de00 | %SerialLink.perturb Perturb robot parameters
%
% RP = R.perturb(P) is a new robot object in which the dynamic parameters (link
% mass and inertia) have been perturbed. The perturbation is multiplicative so
% that values are multiplied by random numbers in the interval (1-P) to (1+P).
% The name string of the perturbe... |
github | RobinAmsters/GT_mobile_robotics-master | cinertia.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/cinertia.m | 1,323 | utf_8 | a7665a413c93fb41a1e4abab02293da4 | %SerialLink.cinertia Cartesian inertia matrix
%
% M = R.cinertia(Q) is the NxN Cartesian (operational space) inertia matrix which relates
% Cartesian force/torque to Cartesian acceleration at the joint configuration Q, and N
% is the number of robot joints.
%
% See also SerialLink.inertia, SerialLink.rne.
% MOD HIST... |
github | RobinAmsters/GT_mobile_robotics-master | fkine.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/fkine.m | 2,840 | utf_8 | d75ad4a564c0204ce1a2ad0a0f3f0aae | %SerialLink.fkine Forward kinematics
%
% T = R.fkine(Q, OPTIONS) is the pose of the robot end-effector as an SE3
% object for the joint configuration Q (1xN).
%
% If Q is a matrix (KxN) the rows are interpreted as the generalized joint
% coordinates for a sequence of points along a trajectory. Q(i,j) is the
% j'th joi... |
github | RobinAmsters/GT_mobile_robotics-master | rne.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/rne.m | 4,484 | utf_8 | c1a1aa9c85b860f820356e2d28c49999 | %SerialLink.rne Inverse dynamics
%
% TAU = R.rne(Q, QD, QDD, OPTIONS) is the joint torque required for the
% robot R to achieve the specified joint position Q (1xN), velocity QD
% (1xN) and acceleration QDD (1xN), where N is the number of robot joints.
%
% TAU = R.rne(X, OPTIONS) as above where X=[Q,QD,QDD] (1x3N).
%
%... |
github | RobinAmsters/GT_mobile_robotics-master | gravjac.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/gravjac.m | 4,489 | utf_8 | 8b40fc1de2d91ced27fe467747bdc502 | %SerialLink.GRAVJAC Fast gravity load and Jacobian
%
% [TAU,JAC0] = R.gravjac(Q) is the generalised joint force/torques due to
% gravity TAU (1xN) and the manipulator Jacobian in the base frame JAC0 (6xN) for
% robot pose Q (1xN), where N is the number of robot joints.
%
% [TAU,JAC0] = R.gravjac(Q,GRAV) as above... |
github | RobinAmsters/GT_mobile_robotics-master | teach.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/teach.m | 4,150 | utf_8 | d6f494b5ce61d77a158c7e55471f16fc | %SerialLink.teach Graphical teach pendant
%
% Allow the user to "drive" a graphical robot using a graphical slider
% panel.
%
% R.teach(OPTIONS) adds a slider panel to a current robot plot.
%
% R.teach(Q, OPTIONS) as above but the robot joint angles are set to Q (1xN).
%
%
% Options::
% 'eul' Display tool ori... |
github | RobinAmsters/GT_mobile_robotics-master | maniplty.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/maniplty.m | 5,488 | utf_8 | 6dc8d1e4cd47b12bd3577edd006e419a | %SerialLink.MANIPLTY Manipulability measure
%
% M = R.maniplty(Q, OPTIONS) is the manipulability index (scalar) for the
% robot at the joint configuration Q (1xN) where N is the number of robot
% joints. It indicates dexterity, that is, how isotropic the robot's
% motion is with respect to the 6 degrees of Cartesian m... |
github | RobinAmsters/GT_mobile_robotics-master | inertia.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/inertia.m | 2,008 | utf_8 | f3f737784c846fc85e9a5b02736fe80c | %SerialLink.INERTIA Manipulator inertia matrix
%
% I = R.inertia(Q) is the symmetric joint inertia matrix (NxN) which relates
% joint torque to joint acceleration for the robot at joint configuration Q.
%
% If Q is a matrix (KxN), each row is interpretted as a joint state
% vector, and the result is a 3d-matrix (NxNx... |
github | RobinAmsters/GT_mobile_robotics-master | fdyn.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/fdyn.m | 5,073 | utf_8 | a400da6da911640f9610ea979364170f | %SerialLink.fdyn Integrate forward dynamics
%
% [T,Q,QD] = R.fdyn(TMAX, FTFUN) integrates the dynamics of the robot over
% the time interval 0 to TMAX and returns vectors of time T (Kx1), joint
% position Q (KxN) and joint velocity QD (KxN). The initial joint position
% and velocity are zero. The torque applied to th... |
github | RobinAmsters/GT_mobile_robotics-master | fellipse.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/fellipse.m | 3,069 | utf_8 | d87897de30852a78a8ed05f0b51612ab | %SerialLink.fellipse Force ellipsoid for seriallink manipulator
%
% R.fellipse(Q, OPTIONS) displays the force 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 for tra... |
github | RobinAmsters/GT_mobile_robotics-master | trchain.m | .m | GT_mobile_robotics-master/common/rvctools/robot/@SerialLink/trchain.m | 4,515 | utf_8 | b601af947d862aed84aa7ed6597c15fc | %SERIALLINK.TRCHAIN Convert to elementary transform sequence
%
% S = R.TRCHAIN(OPTIONS) is a sequence of elementary transforms that describe the
% kinematics of the serial link robot arm. 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 a joint variab... |
github | RobinAmsters/GT_mobile_robotics-master | dxdemo.m | .m | GT_mobile_robotics-master/common/rvctools/robot/demos/dxdemo.m | 4,414 | utf_8 | a12f5f38fda2788e7906ad3d546bd4fd | %DXDEMO Demonstrate distance transform planner using animation
%
% MORPHDEMO(IM, SE, OPTIONS) displays an animation to show the principles
% of the mathematical morphology operations dilation or erosion. Two
% windows are displayed side by side, input binary image on the left and
% output image on the right. The stru... |
github | RobinAmsters/GT_mobile_robotics-master | check.m | .m | GT_mobile_robotics-master/common/rvctools/robot/mex/check.m | 2,355 | utf_8 | 687f3f98ff0462cae7415c80c3caebf3 | function check
fprintf('***************************************************************\n')
fprintf('************************ Puma 560 *****************************\n')
fprintf('***************************************************************\n')
clear
mdl_puma560
mdl_puma560akb
if ... |
github | RobinAmsters/GT_mobile_robotics-master | move.m | .m | GT_mobile_robotics-master/common/rvctools/robot/interfaces/@Create/move.m | 3,671 | utf_8 | 79fa5d2956cbcc99182a784ce925b457 | function move(robot, speed, angvel, varargin);
%travelDist(serPort, roombaSpeed, distance)
%Moves the Create the distance entered in meters. Positive distances move the
%Create foward, negative distances move the Create backwards.
%roombaSpeed should be between 0.025 and 0.5 m/s
% By; Joel Esposito, US Naval Acade... |
github | RobinAmsters/GT_mobile_robotics-master | Num_Keypad_backnovibe.m | .m | GT_mobile_robotics-master/common/rvctools/robot/interfaces/@Create/Num_Keypad_backnovibe.m | 12,578 | utf_8 | 7e71977ac697d6139c1bdb60444f6bea | function varargout = RobotGuiControl(varargin)
%varargout = Num_Keypad_backnovibe(varargin)
%Large Forward Arrow-Moves Roomba forward 10cm
%Small Forward Arrow-Moves Roomba forward 5cm
%Back Arrow-Moves Roomba backward 5cm
%Large Left Arrow-Turns Roomba 15 degrees left
%Small Left Arrow-Turns Roomba 5 degrees left
%La... |
github | RobinAmsters/GT_mobile_robotics-master | teach.m | .m | GT_mobile_robotics-master/common/rvctools/robot/interfaces/@Create/teach.m | 12,494 | utf_8 | bde6f61bbfda699e08b8d7e428a6f4ba | function varargout = RobotGuiControl(varargin)
%varargout = RobotGuiControl(varargin)
%Large Forward Arrow-Moves Roomba forward 10cm
%Small Forward Arrow-Moves Roomba forward 5cm
%Back Arrow-Moves Roomba backward 5cm
%Large Left Arrow-Turns Roomba 15 degrees left
%Small Left Arrow-Turns Roomba 5 degrees left
%Large Ri... |
github | RobinAmsters/GT_mobile_robotics-master | VREP_arm.m | .m | GT_mobile_robotics-master/common/rvctools/robot/interfaces/VREP/VREP_arm.m | 12,872 | utf_8 | f2d3f587eedac1bfd221fb9000c4cc09 | %VREP_arm Mirror of V-REP robot arm object
%
% Mirror objects are MATLAB objects that reflect the state of objects in
% the V-REP environment. Methods allow the V-REP state to be examined or
% changed.
%
% This is a concrete class, derived from VREP_mirror, for all V-REP robot
% arm objects and allows access to joint ... |
github | RobinAmsters/GT_mobile_robotics-master | walking.m | .m | GT_mobile_robotics-master/common/rvctools/robot/examples/walking.m | 4,704 | utf_8 | 415446e79beb2da9251d7463e6ad652b | % set the dimensions of the two leg links
% 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 Foun... |
github | RobinAmsters/GT_mobile_robotics-master | sensorfield.m | .m | GT_mobile_robotics-master/common/rvctools/robot/examples/sensorfield.m | 884 | utf_8 | 97e07ff1557dbc0f620859d66506f495 |
% 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, o... |
github | RobinAmsters/GT_mobile_robotics-master | gait.m | .m | GT_mobile_robotics-master/common/rvctools/robot/examples/gait.m | 949 | utf_8 | 43edd6a553ff1f0cbfebbc706ff37f88 |
% 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, o... |
github | RobinAmsters/GT_mobile_robotics-master | braitenberg.m | .m | GT_mobile_robotics-master/common/rvctools/robot/examples/braitenberg.m | 2,400 | utf_8 | 37f654774804c3ca95e847c6191036b9 |
% 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, o... |
github | RobinAmsters/GT_mobile_robotics-master | SerialLinkTest.m | .m | GT_mobile_robotics-master/common/rvctools/robot/unit_test/SerialLinkTest.m | 30,524 | utf_8 | 6fa420d1b0d296cd2ce087b11325acd5 | %% This is for testing the SerialLink functions in the robotics Toolbox
function tests = SerialLinkTest
tests = functiontests(localfunctions);
clc
end
function setupOnce(tc)
mdl_puma560;
tc.TestData.p560 = p560;
mdl_planar2
tc.TestData.p2 = p2;
mdl_puma560akb
tc.TestData.... |
github | RobinAmsters/GT_mobile_robotics-master | SerialLinkModelsTest.m | .m | GT_mobile_robotics-master/common/rvctools/robot/unit_test/SerialLinkModelsTest.m | 1,696 | utf_8 | fa5bede9b9eb3d60c3e67db66c9fd7ff | %% This is for testing the SerialLink models in the robotics Toolboxg
function tests = SerialLinkModelsTest
tests = functiontests(localfunctions);
end
function models_test(tc)
models
names = models();
verifyTrue(tc, iscell(names) );
models('6dof')
names = models('6dof');
v... |
github | RobinAmsters/GT_mobile_robotics-master | PlanTest.m | .m | GT_mobile_robotics-master/common/rvctools/robot/unit_test/PlanTest.m | 8,305 | utf_8 | 5be43c22100201e1aff4290dc8814bd2 | function tests = PlanTest
tests = functiontests(localfunctions);
end
function setupOnce(tc)
clc
load map1 % load map
tc.TestData.map = map;
tc.TestData.goal = [50 30];
tc.TestData.start = [20 10];
end
function teardownOnce(tc)
close all
end
function bug2_test(tc)
nav = Bug2(tc... |
github | RobinAmsters/GT_mobile_robotics-master | TrajectoryTest.m | .m | GT_mobile_robotics-master/common/rvctools/robot/unit_test/TrajectoryTest.m | 18,301 | utf_8 | 14958af0af35aba994d574bf2bf54caa | %% This is for testing the Trajectory Generation functions in the robotics Toolbox
function tests = TrajectoryTest
tests = functiontests(localfunctions);
clc
end
function teardownOnce(tc)
close all
end
function tpoly_test(tc)
s1 = 1;
s2 = 2;
%% no boundary conditions
tpoly(s1,... |
github | RobinAmsters/GT_mobile_robotics-master | NavigationTest.m | .m | GT_mobile_robotics-master/common/rvctools/robot/unit_test/NavigationTest.m | 2,674 | utf_8 | fa1ee2e963da90466512c91e59044f9e | % test the Navigation abstract superclass
function tests = NavigationTest
tests = functiontests(localfunctions);
end
function map_test(tc)
map = zeros(10,10);
map(2,3) = 1;
nav = Bug2(map); % we can't instantiate Navigation because it's abstract
%% test isoccupied method
% row vect... |
github | RobinAmsters/GT_mobile_robotics-master | LinkTest.m | .m | GT_mobile_robotics-master/common/rvctools/robot/unit_test/LinkTest.m | 21,983 | utf_8 | cebe5d2fc8d7db771204d971accbdde7 | %% This is for testing the Link functions in the robotics Toolbox
function tests = LinkTest
tests = functiontests(localfunctions);
end
function constructor_classic_dh_test(tc)
L = Link();
tc.verifyTrue( isa(L, 'Link') );
tc.verifyFalse(L.issym);
tc.verifyEqual(L.theta, 0);
tc.verifyEqual(... |
github | RobinAmsters/GT_mobile_robotics-master | DifferentialMotionTest.m | .m | GT_mobile_robotics-master/common/rvctools/robot/unit_test/DifferentialMotionTest.m | 7,265 | utf_8 | 8045b2810725df6247d2469193269d26 | %% This is for testing the Differential Motion functions in the robotics Toolbox
function tests = TransformationsTest
tests = functiontests(localfunctions);
end
%% skew - vector to skew symmetric matrix
function skew_test(tc)
%% 2D case
verifyEqual(tc, skew(2),...
... |
github | RobinAmsters/GT_mobile_robotics-master | SimulinkTest.m | .m | GT_mobile_robotics-master/common/rvctools/robot/unit_test/SimulinkTest.m | 2,857 | utf_8 | a6cf49d88a3bccec4399020aebe23602 | %% Test all the Simulink models
function tests = SimulinkTest
tests = functiontests(localfunctions);
end
function setupOnce(testCase)
testCase.TestData.StopTime = 0.5;
end
function teardownOnce(tc)
delete('*.slxc')
bdclose
end
function braitenberg_test(testCase)
sim('sl_braitenberg', testCase.Tes... |
github | RobinAmsters/GT_mobile_robotics-master | DHFactorTest.m | .m | GT_mobile_robotics-master/common/rvctools/robot/unit_test/DHFactorTest.m | 4,017 | utf_8 | 6aafc123b008f31b798d1709095eed20 | function tests = DHFactorTest
tests = functiontests(localfunctions);
clc
end
function constructor1_test(tc)
dh = DHFactor('Tz(L1)');
tc.verifyClass(dh, 'DHFactor');
tc.verifySize(dh, [1 1]);
tc.verifyEqual( char(dh.tool), 'eye(4,4)');
tc.verifyEqual( char(dh.base), 'eye(4,4)');
tc.verifyE... |
github | RobinAmsters/GT_mobile_robotics-master | VehicleTest.m | .m | GT_mobile_robotics-master/common/rvctools/robot/unit_test/VehicleTest.m | 7,297 | utf_8 | 133abe837f10db9ffcfcd6634c19ffc8 | function tests = VehicleTest
tests = functiontests(localfunctions);
clc
end
function Bicycle_constructor_test(tc)
% default constructor
v = Bicycle();
% display
v
% char
s = v.char()
tc.verifyTrue( ischar(s) );
% all options
v = Bicycle( ...
'steerma... |
github | RobinAmsters/GT_mobile_robotics-master | CodeGeneratorTest.m | .m | GT_mobile_robotics-master/common/rvctools/robot/unit_test/CodeGeneratorTest.m | 25,883 | utf_8 | 05b04e19e1fc53ea547e7d804d91560c | function tests = CodeGeneratorTest
tests = functiontests(localfunctions);
end
function setupOnce(testCase)
% Create a test robot based on the first three links of the Puma 560.
deg = pi/180;
L(1) = Revolute('d', 0, 'a', 0, 'alpha', pi/2, ...
'I', [0, 0.35, 0, 0, 0, 0], ...
'r', [0, 0, 0], ...
... |
github | RobinAmsters/GT_mobile_robotics-master | sl_tripleangleTest.m | .m | GT_mobile_robotics-master/common/rvctools/robot/unit_test/sl_tripleangleTest.m | 2,599 | utf_8 | 7b1fccab6fb5e3e055af09dc9217747b | % test the Simulink RPY and Euler blocks
% in conjunction with sl_tripleangleTest.m
function tests = sl_tripleangleTest
tests = functiontests(localfunctions);
clc
end
function setupOnce(tc)
sl_tripleangle
end
function teardownOnce(tc)
bdclose
end
function radians_test(tc)
angles = [0.3 0.4 0.5];... |
github | RobinAmsters/GT_mobile_robotics-master | ETS3Test.m | .m | GT_mobile_robotics-master/common/rvctools/robot/unit_test/ETS3Test.m | 1,163 | utf_8 | cdc2014c04234c88bb7e8546058367e1 | function tests = ETS3Test
tests = functiontests(localfunctions);
clc
end
function revolute1_test(tc)
import ETS3.*
a1 = 1;
E = Rx('q1') * Tx(a1) * Ry('q2') * Ty(a1) * Rz('q3');
tc.verifyTrue(isa(E, 'ETS3'))
tc.verifySize(E, [1 5])
tc.verifyEqual(E.n, 3) % number of joints
... |
github | RobinAmsters/GT_mobile_robotics-master | LocnTest.m | .m | GT_mobile_robotics-master/common/rvctools/robot/unit_test/LocnTest.m | 4,870 | utf_8 | bf1993bf5cb0808ccb0a933d4810a032 | function tests = LocnTest
tests = functiontests(localfunctions);
clc
end
function setupOnce(testCase)
testCase.TestData.Duration = 50;
end
function Vehicle_test(tc)
%%
randinit
V = diag([0.005, 0.5*pi/180].^2);
v = Bicycle('covar', V);
v.add_driver( RandomPath(10) );
v.run(tc.TestDat... |
github | RobinAmsters/GT_mobile_robotics-master | ETS2Test.m | .m | GT_mobile_robotics-master/common/rvctools/robot/unit_test/ETS2Test.m | 1,362 | utf_8 | 4807c7cbda642f59e8dcd4af08ebb115 | function tests = ETS2Test
tests = functiontests(localfunctions);
clc
end
function revolute1_test(tc)
import ETS2.*
a1 = 1;
E = Rz('q1') * Tx(a1);
tc.verifyTrue(isa(E, 'ETS2'))
tc.verifySize(E, [1 2])
tc.verifyEqual(E.n, 1) % number of joints
tc.verifyClass(char(E), 'char'... |
github | RobinAmsters/GT_mobile_robotics-master | arrow.m | .m | GT_mobile_robotics-master/common/rvctools/robot/private/arrow.m | 55,316 | utf_8 | a9fba6cb870e440f70d88c6a4849cb63 | function [h,yy,zz] = arrow(varargin)
% ARROW Draw a line with an arrowhead.
%
% ARROW(Start,Stop) draws a line with an arrow from Start to Stop (points
% should be vectors of length 2 or 3, or matrices with 2 or 3
% columns), and returns the graphics handle of the arrow(s).
%
% ARROW uses the mouse (cl... |
github | RobinAmsters/GT_mobile_robotics-master | mdl_ur3.m | .m | GT_mobile_robotics-master/common/rvctools/robot/models/mdl_ur3.m | 2,856 | utf_8 | adf30ae6a0e9dbce9ac8cbb59ac24e31 | %MDL_UR5 Create model of Universal Robotics UR3 manipulator
%
% MDL_UR5 is a script that creates the workspace variable ur3 which
% describes the kinematic characteristics of a Universal Robotics UR3 manipulator
% using standard DH conventions.
%
% Also define the workspace vectors:
% qz zero joint angle conf... |
github | RobinAmsters/GT_mobile_robotics-master | mdl_hyper3d.m | .m | GT_mobile_robotics-master/common/rvctools/robot/models/mdl_hyper3d.m | 2,453 | utf_8 | 0b51edaf018a57987435de79571d823f | %MDL_HYPER3D Create model of a hyper redundant 3D manipulator
%
% MDL_HYPER3D is a script that creates the workspace variable h3d which
% describes the kinematic characteristics of a serial link manipulator with
% 10 joints which at zero angles is a straight line in the XY plane.
%
% MDL_HYPER3D(N) as above but creates... |
github | RobinAmsters/GT_mobile_robotics-master | mdl_panda.m | .m | GT_mobile_robotics-master/common/rvctools/robot/models/mdl_panda.m | 4,184 | utf_8 | 2921b74bc99d500bced903651c7d0157 | %MDL_PANDA Create model of Franka-Emika PANDA robot
%
% MDL_PANDA is a script that creates the workspace variable panda which
% describes the kinematic characteristics of a Franka-Emika PANDA manipulator
% using standard DH conventions.
%
% Also define the workspace vectors:
% qz zero joint angle configuratio... |
github | RobinAmsters/GT_mobile_robotics-master | mdl_offset6.m | .m | GT_mobile_robotics-master/common/rvctools/robot/models/mdl_offset6.m | 2,194 | utf_8 | 313a23c9bd82f70359a9cc6af980e14c | %MDL_OFFSET6 A minimalistic 6DOF robot arm with shoulder offset
%
% MDL_OFFSET6 is a script that creates the workspace variable off6 which
% describes the kinematic characteristics of a simple arm manipulator with
% a spherical wrist and a shoulder offset, using standard DH conventions.
%
% Also define the workspace ve... |
github | RobinAmsters/GT_mobile_robotics-master | mdl_M16.m | .m | GT_mobile_robotics-master/common/rvctools/robot/models/mdl_M16.m | 2,668 | utf_8 | 73dc87ecd65dc4a301c45bd0abe8762c | %MDL_M16 Create model of Fanuc M16 manipulator
%
% MDL_M16 is a script that creates the workspace variable m16 which
% describes the kinematic characteristics of a Fanuc M16 manipulator using
% standard DH conventions.
%
% Also define the workspace vectors:
% qz zero joint angle configuration
% qr v... |
github | RobinAmsters/GT_mobile_robotics-master | mdl_simple6.m | .m | GT_mobile_robotics-master/common/rvctools/robot/models/mdl_simple6.m | 2,112 | utf_8 | 9a12a84c51a8b43ed67a2abcce02a22b | %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 | RobinAmsters/GT_mobile_robotics-master | mdl_irb140.m | .m | GT_mobile_robotics-master/common/rvctools/robot/models/mdl_irb140.m | 2,661 | utf_8 | 745d238d39c628d1e889e77fe9bdb79a | %MDL_IRB140 Create model of ABB IRB 140 manipulator
%
% MDL_IRB140 is a script that creates the workspace variable irb140 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 | RobinAmsters/GT_mobile_robotics-master | mdl_jaco.m | .m | GT_mobile_robotics-master/common/rvctools/robot/models/mdl_jaco.m | 2,912 | utf_8 | bf104e27b26a59eeb11cbed46a7ee03d | %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 | RobinAmsters/GT_mobile_robotics-master | mdl_coil.m | .m | GT_mobile_robotics-master/common/rvctools/robot/models/mdl_coil.m | 2,093 | utf_8 | e950b9ee64dab23230e15783425d5406 | %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 | RobinAmsters/GT_mobile_robotics-master | mdl_ur5.m | .m | GT_mobile_robotics-master/common/rvctools/robot/models/mdl_ur5.m | 2,911 | utf_8 | b86d09aa65b4a2a4c7071a210c1661cd | %MDL_UR5 Create model of Universal Robotics UR5 manipulator
%
% MDL_UR5 is a script that creates the workspace variable ur5 which
% describes the kinematic characteristics of a Universal Robotics UR5 manipulator
% using standard DH conventions.
%
% Also define the workspace vectors:
% qz zero joint angle conf... |
github | RobinAmsters/GT_mobile_robotics-master | mdl_mico.m | .m | GT_mobile_robotics-master/common/rvctools/robot/models/mdl_mico.m | 3,573 | utf_8 | 563156da7fc9b980f7ea7f2eefe0d57d | %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 | RobinAmsters/GT_mobile_robotics-master | mdl_ur10.m | .m | GT_mobile_robotics-master/common/rvctools/robot/models/mdl_ur10.m | 2,890 | utf_8 | 11ff9e3db6c3032bb4470970e053ab65 | %MDL_UR10 Create model of Universal Robotics UR10 manipulator
%
% MDL_UR5 is a script that creates the workspace variable ur10 which
% describes the kinematic characteristics of a Universal Robotics UR10 manipulator
% using standard DH conventions.
%
% Also define the workspace vectors:
% qz zero joint angle ... |
github | RobinAmsters/GT_mobile_robotics-master | mdl_sawyer.m | .m | GT_mobile_robotics-master/common/rvctools/robot/models/mdl_sawyer.m | 2,512 | utf_8 | 3505a00351cb03e2c2c617d54aa358e9 | %MDL_SAWYER Create model of Rethink Robotics Sawyer robot
%
% MDL_SAYWER is a script that creates the workspace variable sawyer which
% describes the kinematic characteristics of a Rethink Robotics Sawyer manipulator
% using standard DH conventions.
%
% Also define the workspace vectors:
% qz zero joint angle... |
github | RobinAmsters/GT_mobile_robotics-master | mdl_hyper2d.m | .m | GT_mobile_robotics-master/common/rvctools/robot/models/mdl_hyper2d.m | 2,321 | utf_8 | 4e99a45a15c4a444ea67a5279b6d9513 | %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 | RobinAmsters/GT_mobile_robotics-master | mdl_ball.m | .m | GT_mobile_robotics-master/common/rvctools/robot/models/mdl_ball.m | 2,377 | utf_8 | 24984b99a4eeb299735e225c67a81ed2 | %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 | RobinAmsters/GT_mobile_robotics-master | tripleangle.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Apps/tripleangle.m | 16,728 | utf_8 | fe2b05e9e2f40ca331623cf7307f61ec | % TRIPLEANGLE Visualize triple angle rotations
%
% TRIPLEANGLE, by itself, displays a simple GUI with three angle sliders
% and a set of axes showing three coordinate frames. The frames correspond
% to rotation after the first angle (red), the first and second angles (green)
% and all three angles (blue).
%
% TRIPLEAN... |
github | RobinAmsters/GT_mobile_robotics-master | polar_sfunc.m | .m | GT_mobile_robotics-master/common/rvctools/robot/simulink/polar_sfunc.m | 4,897 | utf_8 | e94a62691fcfd183c87cde7beb3d91ee | function movepoint_sfunc(block)
block.NumInputPorts = 1;
block.NumOutputPorts = 1;
% Setup port properties to be inherited or dynamic
block.SetPreCompInpPortInfoToDynamic;
block.SetPreCompOutPortInfoToDynamic;
% Override input port properties
block.InputPort(1).DatatypeID = 0; % double
block.Inp... |
github | RobinAmsters/GT_mobile_robotics-master | slplotbot.m | .m | GT_mobile_robotics-master/common/rvctools/robot/simulink/slplotbot.m | 1,828 | utf_8 | ba0ac29e746c49ecc04195482e486441 | %SLPLOTBOT S-function for robot animation
%
% This is the S-function for animating the robot. It assumes input
% data u to be the joint angles q.
%
% Implemented as an S-function so as to update display at the end of
% each Simulink major integration step.
function [sys,x0,str,ts] = splotbot(t,x,u,flag, robot, fps, h... |
github | RobinAmsters/GT_mobile_robotics-master | quadrotor_dynamics.m | .m | GT_mobile_robotics-master/common/rvctools/robot/simulink/quadrotor_dynamics.m | 9,935 | utf_8 | 93681b1e292cd9a30d3887f7d7603cc9 |
function [sys,x0,str,ts] = quadrotor_dynamics(t,x,u,flag, quad, x0, groundflag)
% Flyer2dynamics lovingly coded by Paul Pounds, first coded 12/4/04
% A simulation of idealised X-4 Flyer II flight dynamics.
% version 2.0 2005 modified to be compatible with latest version of Matlab
% version 3.0 2006 fix... |
github | RobinAmsters/GT_mobile_robotics-master | quadrotor_plot.m | .m | GT_mobile_robotics-master/common/rvctools/robot/simulink/quadrotor_plot.m | 6,817 | utf_8 | d45a42badcf21b410b948d7700545049 |
% Copyright (C) 1993-2014, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for Matlab (RTB).
%
% RTB is free software: you can redistribute it and/or modify
% it under the terms of the GNU Lesser General Public License as published by
% the Free Software Foundation, either version 3 of the Lic... |
github | RobinAmsters/GT_mobile_robotics-master | nrotor_dynamics.m | .m | GT_mobile_robotics-master/common/rvctools/robot/simulink/nrotor_dynamics.m | 10,074 | utf_8 | 2bf71a487d17cb2635f1e387cbcd02c1 |
function [sys,x0,str,ts] = nrotor_dynamics(t,x,u,flag, vehicle, x0, groundflag)
% Flyer2dynamics lovingly coded by Paul Pounds, first coded 12/4/04
% A simulation of idealised X-4 Flyer II flight dynamics.
% version 2.0 2005 modified to be compatible with latest version of Matlab
% version 3.0 2006 fix... |
github | RobinAmsters/GT_mobile_robotics-master | slaccel.m | .m | GT_mobile_robotics-master/common/rvctools/robot/simulink/slaccel.m | 1,863 | utf_8 | b40a5c69f4b536d307e49d1c9a3e0261 | %SLACCEL S-function for robot acceleration
%
% This is the S-function for computing robot acceleration. It assumes input
% data u to be the vector [q qd tau].
%
% Implemented as an S-function to get around vector sizing problem with
% Simulink 4.
function [sys, x0, str, ts] = slaccel(t, x, u, flag, robot)
switch flag... |
github | RobinAmsters/GT_mobile_robotics-master | SerialLink.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@SerialLink/SerialLink.m | 3,422 | utf_8 | 6b79f782cc7245759b17bccc567eadfb | %ROBOT robot object constructor
%
% ROBOT
% ROBOT(robot) create a copy of an existing ROBOT object
% ROBOT(LINK, ...) create from a cell array of LINK objects
% ROBOT(DH, ...) create from legacy DYN matrix
% ROBOT(DYN, ...) create from legacy DYN matrix
%
% optional trailing arguments are:
% Name robot type or na... |
github | RobinAmsters/GT_mobile_robotics-master | showlink.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@SerialLink/showlink.m | 1,144 | utf_8 | c7461e742177bef949f7c9c1f29746a4 | %SerialLink.showlink Show parameters of all links
%
% R.showlink() shows details of all link parameters for the robot object,
% including inertial parameters.
%
% See also Link.showlink, Link.
% Ryan Steindl based on Robotics Toolbox for MATLAB (v6 and v9)
%
% Copyright (C) 1993-2011, by Peter I. Corke
%
% This file i... |
github | RobinAmsters/GT_mobile_robotics-master | plot.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@SerialLink/plot.m | 12,227 | utf_8 | a5e1b4b6574996e90a18af55228dd05d | %PLOT Graphical robot animation
%
% PLOT(ROBOT, Q)
% PLOT(ROBOT, 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, or if a matrix it is
% animated as the rob... |
github | RobinAmsters/GT_mobile_robotics-master | dyn.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@SerialLink/dyn.m | 1,207 | utf_8 | 3c68eba44763c252b2636604f6cd8e84 |
% Ryan Steindl based on Robotics Toolbox for MATLAB (v6 and v9)
%
% Copyright (C) 1993-2011, 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
%... |
github | RobinAmsters/GT_mobile_robotics-master | rne_dh.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@SerialLink/rne_dh.m | 4,885 | utf_8 | 1e44d3260a31a7c4fce5eb34a71c71fc |
%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
%
% Ryan Steindl based on Robotics Toolbox for ... |
github | RobinAmsters/GT_mobile_robotics-master | ikine6s.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@SerialLink/ikine6s.m | 6,065 | utf_8 | 4f342a905d0c1a34d604e6fa1ed16df5 | %SerialLink.ikine6s Inverse kinematics for 6-axis robot with spherical wrist
%
% Q = R.ikine6s(T) is the joint coordinates corresponding to the robot
% end-effector pose T represented by the homogenenous transform. This
% is a analytic solution for a 6-axis robot with a spherical wrist (such as
% the Puma 560).
%
% Q ... |
github | RobinAmsters/GT_mobile_robotics-master | jacob0.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@SerialLink/jacob0.m | 2,687 | utf_8 | d4357319844fce3feaea8b842aa504d1 | %SerialLink.JACOB0 Jacobian in world coordinates
%
% J0 = R.jacob0(Q, OPTIONS) is a 6xN Jacobian matrix for the robot in pose Q.
% The manipulator Jacobian matrix maps joint velocity to end-effector spatial
% velocity V = J0*QD expressed in the world-coordinate frame.
%
% Options::
% 'rpy' Compute analytical Jacobi... |
github | RobinAmsters/GT_mobile_robotics-master | jacobn.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@SerialLink/jacobn.m | 2,285 | utf_8 | d0a28ea847a72cd2f6438b539ca8bedc | %SerialLink.JACOBN Jacobian in end-effector frame
%
% JN = R.jacobn(Q, options) is a 6xN Jacobian matrix for the robot in
% pose Q. The manipulator Jacobian matrix maps joint velocity to
% end-effector spatial velocity V = J0*QD in the end-effector frame.
%
% Options::
% 'trans' Return translational submatrix of Ja... |
github | RobinAmsters/GT_mobile_robotics-master | subsasgn.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@SerialLink/subsasgn.m | 1,764 | utf_8 | 12b197110489a5436b0f9c7d8346641f |
% Ryan Steindl based on Robotics Toolbox for MATLAB (v6 and v9)
%
% Copyright (C) 1993-2011, 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
%... |
github | RobinAmsters/GT_mobile_robotics-master | isspherical.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@SerialLink/isspherical.m | 1,289 | utf_8 | a8a3dab75cbabe5ce56b5d99f9cbed37 |
% Ryan Steindl based on Robotics Toolbox for MATLAB (v6 and v9)
%
% Copyright (C) 1993-2011, 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
%... |
github | RobinAmsters/GT_mobile_robotics-master | islimit.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@SerialLink/islimit.m | 1,196 | utf_8 | 10b2f47bd6a9fdbf33da48c014e3bb33 |
% Ryan Steindl based on Robotics Toolbox for MATLAB (v6 and v9)
%
% Copyright (C) 1993-2011, 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
%... |
github | RobinAmsters/GT_mobile_robotics-master | jacob_dot.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@SerialLink/jacob_dot.m | 2,601 | utf_8 | 9f2000212bd6bcf04fa5999185dd9fd6 | %SerialLink.jacob_dot Hessian in end-effector frame
%
% JDQ = R.jacob_dot(Q, QD) is the product of the Hessian, derivative of the
% Jacobian, and the joint rates.
%
% Notes::
% - useful for operational space control
% - not yet tested/debugged.
%
% See also: SerialLink.jacob0, diff2tr, tr2diff.
% Ryan Steindl based on... |
github | RobinAmsters/GT_mobile_robotics-master | jtraj.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@SerialLink/jtraj.m | 1,770 | utf_8 | ea27c1029941256bff4d31f4be8b7f73 |
% Ryan Steindl based on Robotics Toolbox for MATLAB (v6 and v9)
%
% Copyright (C) 1993-2011, 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
%... |
github | RobinAmsters/GT_mobile_robotics-master | gravload.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@SerialLink/gravload.m | 1,717 | utf_8 | 03a9c9463c5e3f40ba8d40fe8907fffc | %SerialLink.gravload Gravity loading
%
% TAUG = R.gravload(Q) is the joint gravity loading for the robot in the
% joint configuration Q. Gravitational acceleration is a property of the
% robot object.
%
% If Q is a row vector, the result is a row vector of joint torques. If
% Q is a matrix, each row is interpreted a... |
github | RobinAmsters/GT_mobile_robotics-master | char.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@SerialLink/char.m | 2,312 | utf_8 | 1d0928dd606e427c1cf624e12f7cd15e |
% Ryan Steindl based on Robotics Toolbox for MATLAB (v6 and v9)
%
% Copyright (C) 1993-2011, 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
%... |
github | RobinAmsters/GT_mobile_robotics-master | friction.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@SerialLink/friction.m | 1,264 | utf_8 | 324caf1538af019255ff9332591ec174 | %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 (linear with velocity)
% and Coulomb friction (proportional to sign(QD)).
%
% See also Link.friction.
% Ryan S... |
github | RobinAmsters/GT_mobile_robotics-master | ikine.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@SerialLink/ikine.m | 4,504 | utf_8 | 391a739d99e22dd779dd9fb68317af08 | %SerialLink.IKINE Inverse manipulator kinematics
%
% Q = R.ikine(T) is the joint coordinates corresponding to the robot
% end-effector pose T which is a homogenenous transform.
%
% Q = R.ikine(T, Q0, OPTIONS) specifies the initial estimate of the joint
% coordinates.
%
% Q = R.ikine(T, Q0, M, OPTIONS) specifies the i... |
github | RobinAmsters/GT_mobile_robotics-master | nofriction.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@SerialLink/nofriction.m | 1,537 | utf_8 | 703f45d87978f4e206b0b491525168f5 | %SerialLink.nofriction Remove friction
%
% RNF = R.nofriction() is a robot object with the same parameters as R but
% with non-linear (Couolmb) friction coefficients set to zero.
%
% RNF = R.nofriction('all') as above but all friction coefficients set to zero.
%
% Notes:
% - Non-linear (Coulomb) friction can cause ... |
github | RobinAmsters/GT_mobile_robotics-master | subsref.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@SerialLink/subsref.m | 3,987 | utf_8 | 278306b42a8ab93fa47e1b7062d8fa9f |
% Ryan Steindl based on Robotics Toolbox for MATLAB (v6 and v9)
%
% Copyright (C) 1993-2011, 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
%... |
github | RobinAmsters/GT_mobile_robotics-master | coriolis.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@SerialLink/coriolis.m | 3,406 | utf_8 | 752fc02f5d2bb2dafac400185d4ff702 | %SerialLink.coriolis Coriolis matrix
%
% C = R.CORIOLIS(Q, QD) is the NxN Coriolis/centripetal matrix 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 eff... |
github | RobinAmsters/GT_mobile_robotics-master | accel.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@SerialLink/accel.m | 2,889 | utf_8 | 4cab37c2a136ea9cb47620898bafff08 | %SerialLink.accel Manipulator forward dynamics
%
% QDD = R.accel(Q, QD, TORQUE) is a vector (Nx1) of joint accelerations that result
% from applying the actuator force/torque to the manipulator robot in state Q and QD.
% If Q, QD, TORQUE are matrices with M rows, then QDD is a matrix with M rows
% of acceleration corr... |
github | RobinAmsters/GT_mobile_robotics-master | itorque.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@SerialLink/itorque.m | 1,522 | utf_8 | cc3d52dd02430ec8e7e51b019dd6000a | %SerialLink.itorque Inertia torque
%
% TAUI = R.itorque(Q, QDD) is the inertia force/torque N-vector at the specified
% joint configuration Q and acceleration QDD, that is, TAUI = INERTIA(Q)*QDD.
%
% If Q and QDD are row vectors, the result is a row vector of joint torques.
% If Q and QDD are matrices, each row is inte... |
github | RobinAmsters/GT_mobile_robotics-master | rne_mdh.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@SerialLink/rne_mdh.m | 4,445 | utf_8 | 336e755459929378f84bea818a23b08b |
%SERIALLINK.RNE_MDH Compute inverse dynamics via recursive Newton-Euler formulation
%
% Recursive Newton-Euler for modified Denavit-Hartenberg notation. Is invoked by
% R.RNE().
%
% See also SERIALLINK.RNE.
% Ryan Steindl based on Robotics Toolbox for MATLAB (v6 and v9)
%
% Copyright (C) 1993-2011, by Peter I. Corke... |
github | RobinAmsters/GT_mobile_robotics-master | mtimes.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@SerialLink/mtimes.m | 1,843 | utf_8 | 6c52eb4cccc6f967d5e7786b9ed721e1 | % robot objects can be multiplied r1*r2 which is mechanically equivalent
% to mounting robot r2 on the end of robot r1.
%
% Ryan Steindl based on Robotics Toolbox for MATLAB (v6 and v9)
%
% Copyright (C) 1993-2011, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
%
% RTB is free softw... |
github | RobinAmsters/GT_mobile_robotics-master | perturb.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@SerialLink/perturb.m | 1,687 | utf_8 | 021a5522f737b29a05c4b03005bcd14c | %SerialLink.perturb Perturb robot parameters
%
% RP = R.perturb(P) is a new robot object in which the dynamic parameters (link
% mass and inertia) have been perturbed. The perturbation is multiplicative so
% that values are multiplied by random numbers in the interval (1-P) to (1+P).
% The name string of the perturbe... |
github | RobinAmsters/GT_mobile_robotics-master | cinertia.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@SerialLink/cinertia.m | 1,262 | utf_8 | 4b7612402dafd0f93bce5f1d520ee65f | %SerialLink.cinertia Cartesian inertia matrix
%
% M = R.cinertia(Q) is the NxN Cartesian (operational space) inertia matrix which relates
% Cartesian force/torque to Cartesian acceleration at the joint configuration Q, and N
% is the number of robot joints.
%
% See also SerialLink.inertia, SerialLink.rne.
% Ryan Ste... |
github | RobinAmsters/GT_mobile_robotics-master | fkine.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@SerialLink/fkine.m | 2,043 | utf_8 | 8ed8bfe464ffe53e36fe550ac805285e | %SerialLink.fkine Forward kinematics
%
% T = R.fkine(Q) is the pose of the robot end-effector as a homogeneous
% transformation for the joint configuration Q. For an N-axis manipulator
% Q is an N-vector.
%
% If Q is a matrix, the M rows are interpretted as the generalized
% joint coordinates for a sequence of poi... |
github | RobinAmsters/GT_mobile_robotics-master | rne.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@SerialLink/rne.m | 2,475 | utf_8 | 02a4a285327714868d309bb0a561c56a | %SerialLink.rne Inverse dynamics
%
% TAU = R.rne(Q, QD, QDD) is the joint torque required for the robot R
% to achieve the specified joint position Q, velocity QD and acceleration QDD.
%
% TAU = R.rne(Q, QD, QDD, GRAV) as above but overriding the gravitational
% acceleration vector in the robot object R.
%
% TAU = R.r... |
github | RobinAmsters/GT_mobile_robotics-master | teach.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@SerialLink/teach.m | 10,728 | utf_8 | 47647b268a77098aa9ff5d1fa3f5dda0 | %SerialLink.teach Graphical teach pendant
%
% R.teach() drive a graphical robot by means of a graphical slider panel.
% If no graphical robot exists one is created in a new window. Otherwise
% all current instanes of the graphical robots are driven.
%
% R.teach(Q) specifies the initial joint angle, otherwise it is tak... |
github | RobinAmsters/GT_mobile_robotics-master | maniplty.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@SerialLink/maniplty.m | 3,592 | utf_8 | db86403e6ccb78655d8feed3f696f702 | %SerialLink.MANIPLTY Manipulability measure
%
% M = R.maniplty(Q, OPTIONS) is the manipulability index measure for the robot
% at the joint configuration Q. It indicates dexterity, how isotropic the
% robot's motion is with respect to the 6 degrees of Cartesian motion.
% The measure is low when the manipulator is clos... |
github | RobinAmsters/GT_mobile_robotics-master | inertia.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@SerialLink/inertia.m | 1,944 | utf_8 | 4bda3471b7775960cef1f31a8b0b2dcb | %SerialLink.INERTIA Manipulator inertia matrix
%
% I = R.inertia(Q) is the NxN symmetric joint inertia matrix which relates
% joint torque to joint acceleration for the robot at joint configuration Q.
% The diagonal elements I(j,j) are the inertia seen by joint actuator j.
% The off-diagonal elements are coupling iner... |
github | RobinAmsters/GT_mobile_robotics-master | fdyn.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@SerialLink/fdyn.m | 3,481 | utf_8 | 2cf029c0bca1d90d2a4cb9ea9ed78ddb | %SerialLink.fdyn Integrate forward dynamics
%
% [T,Q,QD] = R.fdyn(T1, TORQFUN) integrates the dynamics of the robot over
% the time interval 0 to T and returns vectors of time TI, joint position Q
% and joint velocity QD. The initial joint position and velocity are zero.
% The torque applied to the joints is compute... |
github | RobinAmsters/GT_mobile_robotics-master | dot.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@Quaternion/dot.m | 979 | utf_8 | 20a6e25089ef3d09abe3812e3c78ad39 | % Ryan Steindl based on Robotics Toolbox for MATLAB (v6 and v9)
%
% Copyright (C) 1993-2011, 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
% ... |
github | RobinAmsters/GT_mobile_robotics-master | norm.m | .m | GT_mobile_robotics-master/common/rvctools/robot/Octave/@Quaternion/norm.m | 1,016 | utf_8 | 03b88aa052109c5e5daca5fae9986aee | % Ryan Steindl based on Robotics Toolbox for MATLAB (v6 and v9)
%
% Copyright (C) 1993-2011, 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
% ... |
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