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value | path stringlengths 12 229 | size int64 23 843k | source_encoding stringclasses 9
values | md5 stringlengths 32 32 | text stringlengths 23 843k |
|---|---|---|---|---|---|---|---|---|
github | ericguerrero/IntersectingFieldsStereo2015-master | colorname.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/colorname.m | 6,627 | utf_8 | 5b9410f99b98845655d3b5db94b1ba4f | %COLORNAME Map between color names and RGB values
%
% RGB = COLORNAME(NAME) is the RGB-tristimulus value (1x3) corresponding to
% the color specified by the string NAME. If RGB is a cell-array (1xN) of
% names then RGB is a matrix (Nx3) with each row being the corresponding
% tristimulus.
%
% XYZ = COLORNAME(NAME, 'xy... |
github | ericguerrero/IntersectingFieldsStereo2015-master | simulinkext.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/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 | ericguerrero/IntersectingFieldsStereo2015-master | angdiff.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/angdiff.m | 1,937 | utf_8 | 5466432a2f94cc0a891bdd989b9a2312 | %ANGDIFF Difference of two angles
%
% D = ANGDIFF(TH1, TH2) returns the difference between angles TH1 and TH2 on
% the circle. The result is in the interval [-pi pi). If TH1 is a column
% vector, and TH2 a scalar then return a column vector where TH2 is modulo
% subtracted from the corresponding elements of TH1.
%
... |
github | ericguerrero/IntersectingFieldsStereo2015-master | h2e.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/h2e.m | 1,080 | utf_8 | 84e0bb752e6dd55a3cee6298272b3b87 | %H2E Homogeneous to Euclidean
%
% E = H2E(H) is the Euclidean version (K-1xN) of the homogeneous
% points H (KxN) where each column represents one point in P^K.
%
% See also E2H.
% Copyright (C) 1993-2014, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
%
% RTB is free software: yo... |
github | ericguerrero/IntersectingFieldsStereo2015-master | plot_point.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/plot_point.m | 3,060 | utf_8 | 2463bf8f14a1eb27c785a601bb3e3c0b | %PLOT_POINT Draw a feature point
%
% PLOT_POINT(P, OPTIONS) adds point markers to the current plot, where P (2xN)
% and each column is the point coordinate.
%
% Options::
% 'textcolor', colspec Specify color of text
% 'textsize', size Specify size of text
% 'bold' Text in bold font.
% ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | isrot.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/isrot.m | 1,296 | utf_8 | cf538053835bb35b2ad96f75fb03ff73 | %ISROT Test if SO(3) rotation matrix
%
% ISROT(R) is true (1) if the argument is of dimension 3x3 or 3x3xN, else false (0).
%
% ISROT(R, 'valid') as above, but also checks the validity of the rotation
% matrix.
%
% Notes::
% - A valid rotation matrix has determinant of 1.
%
% See also ISHOMOG, ISVEC.
% Copyright (C)... |
github | ericguerrero/IntersectingFieldsStereo2015-master | peak2.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/peak2.m | 4,175 | utf_8 | a319fce5e09261e3d464a50c2a6d0682 | %PEAK2 Find peaks in a matrix
%
% ZP = PEAK2(Z, OPTIONS) are the peak values in the 2-dimensional signal Z.
%
% [ZP,IJ] = PEAK2(Z, OPTIONS) as above but also returns the indices of the
% maxima in the matrix Z. Use SUB2IND to convert these to row and column
% coordinates
%
% Options::
% 'npeaks',N Number of peak... |
github | ericguerrero/IntersectingFieldsStereo2015-master | polydiff.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/polydiff.m | 1,028 | utf_8 | 6d06f990e6189bddac233036f35d0ba6 | %POLYDIFF Differentiate a polynomial
%
% PD = POLYDIFF(P) is a vector of coefficients of a polynomial (1xN-1) which is the
% derivative of the polynomial P (1xN).
%
% See also POLYVAL.
% Copyright (C) 1993-2014, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
%
% RTB is free software... |
github | ericguerrero/IntersectingFieldsStereo2015-master | isvec.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/isvec.m | 1,392 | utf_8 | 16021602c566eda7a9492b254784b92b | %ISVEC Test if vector
%
% ISVEC(V) is true (1) if the argument V is a 3-vector, else false (0).
%
% ISVEC(V, L) is true (1) if the argument V is a vector of length L,
% either a row- or column-vector. Otherwise false (0).
%
% Notes::
% - Differs from MATLAB builtin function ISVECTOR, the latter returns true
% for th... |
github | ericguerrero/IntersectingFieldsStereo2015-master | randinit.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/randinit.m | 977 | utf_8 | b857fbea6a9f67aa92df35f510824e7e | %RANDINIT Reset random number generator
%
% RANDINIT resets the defaul random number stream.
%
% See also RandStream.
% Copyright (C) 1993-2014, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
%
% RTB is free software: you can redistribute it and/or modify
% it under the terms of the... |
github | ericguerrero/IntersectingFieldsStereo2015-master | plot_ellipse_inv.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/plot_ellipse_inv.m | 2,795 | utf_8 | 8ebd71fe63043fb44ef27dfe7d79543a | %PLOT_ELLIPSE_INV Draw an ellipse or ellipsoid
%
% PLOT_ELLIPSE_INV(A, OPTIONS) draws an ellipse defined by X'.inv(A).X = 0 on the
% current plot, centred at the origin.
%
% PLOT_ELLIPSE_INV(A, C, OPTIONS) as above but centred at C=[X,Y]. If
% C=[X,Y,Z] the ellipse is parallel to the XY plane but at height Z.
%
% H = ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | plot_circle.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/plot_circle.m | 3,561 | utf_8 | 65e37ae914a661f5ee2cd3cb242c081d | %PLOT_CIRCLE Draw a circle
%
% PLOT_CIRCLE(C, R, options) draws a circle on the current plot with
% centre C=[X,Y] and radius R. If C=[X,Y,Z] the circle is drawn in the
% XY-plane at height Z.
%
% H = PLOT_CIRCLE(C, R, options) as above but return handles. For multiple
% circles H is a vector of handles, one per circ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | plot_homline.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/plot_homline.m | 1,867 | utf_8 | 28aa17324b9f8e4c891c3a5f192c6c31 | %PLOT_HOMLINE Draw a homogeneous
%
% PLOT_HOMLINE(L, LS) draws a line in the current plot L.X = 0 where L
% (3x1). The current axis limits are used to determine the endpoints of
% the line. MATLAB line specification LS can be set. If L (3xN) then N
% lines are drawn, one per column.
%
% H = PLOT_HOMLINE(L, LS) as ab... |
github | ericguerrero/IntersectingFieldsStereo2015-master | xaxis.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/xaxis.m | 1,831 | utf_8 | b0c7ded511fc33d4776f74bf8c5ba924 | %XAXIS Set X-axis scaling
%
% XAXIS(MAX) set x-axis scaling from 0 to MAX.
%
% XAXIS(MIN, MAX) set x-axis scaling from MIN to MAX.
%
% XAXIS([MIN MAX]) as above.
%
% XAXIS restore automatic scaling for x-axis.
%
% See also YAXIS.
% Copyright (C) 1993-2014, by Peter I. Corke
%
% This file is part of The Robotics Toolb... |
github | ericguerrero/IntersectingFieldsStereo2015-master | dockfigs.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/dockfigs.m | 1,179 | utf_8 | aa49ffae7eeff25c8b951ee388a9dcf3 | %DOCKFIGS Control figure docking in the GUI
%
% dockfigs causes all new figures to be docked into the GUI
%
% dockfigs(1) as above.
%
% dockfigs(0) causes all new figures to be undocked from the GUI
% Copyright (C) 1993-2014, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
%
% RTB i... |
github | ericguerrero/IntersectingFieldsStereo2015-master | circle.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/circle.m | 2,066 | utf_8 | 2d421a9c7d25e747a34f5630d9f97e4d | %CIRCLE Compute points on a circle
%
% CIRCLE(C, R, OPT) plots a circle centred at C (1x2) with radius R on the current
% axes.
%
% X = CIRCLE(C, R, OPT) is a matrix (2xN) whose columns define the
% coordinates [x,y] of points around the circumferance of a circle
% centred at C (1x2) and of radius R.
%
% C is normall... |
github | ericguerrero/IntersectingFieldsStereo2015-master | ishomog2.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/ishomog2.m | 1,412 | utf_8 | 054e73efc29b2cdb248ea4ffb3753f04 | %ISHOMOG2 Test if SE(2) homogeneous transformation
%
% ISHOMOG2(T) is true (1) if the argument T is of dimension 3x3 or 3x3xN, else
% false (0).
%
% ISHOMOG2(T, 'valid') as above, but also checks the validity of the rotation
% sub-matrix.
%
% Notes::
% - The first form is a fast, but incomplete, test for a transform i... |
github | ericguerrero/IntersectingFieldsStereo2015-master | xyzlabel.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/xyzlabel.m | 954 | utf_8 | bb86aa1eeff27a679d494908526664dd | %XYZLABEL Label X, Y and Z axes
%
% XYZLABEL label the x-, y- and z-axes with 'X', 'Y', and 'Z'
% respectiveley
% Copyright (C) 1993-2014, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
%
% RTB is free software: you can redistribute it and/or modify
% it under the terms of the GNU ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | homline.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/homline.m | 1,303 | utf_8 | f14119545a317500a53f1bd2808c63b0 | %HOMLINE Homogeneous line from two points
%
% L = HOMLINE(X1, Y1, X2, Y2) is a vector (3x1) which describes a line in
% homogeneous form that contains the two Euclidean points (X1,Y1) and (X2,Y2).
%
% Homogeneous points X (3x1) on the line must satisfy L'*X = 0.
%
% See also PLOT_HOMLINE.
% Copyright (C) 1993-2014, by... |
github | ericguerrero/IntersectingFieldsStereo2015-master | plot_sphere.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/plot_sphere.m | 2,821 | utf_8 | 694cb92035e8acfcec3a664fba49c3df | %PLOT_SPHERE Draw sphere
%
% PLOT_SPHERE(C, R, LS) draws spheres in the current plot. C is the
% centre of the sphere (3x1), R is the radius and LS is an optional MATLAB
% color spec, either a letter or a 3-vector.
%
% H = PLOT_SPHERE(C, R, COLOR) as above but returns the handle(s) for the
% spheres.
%
% H = PLOT_... |
github | ericguerrero/IntersectingFieldsStereo2015-master | peak.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/peak.m | 4,681 | utf_8 | dbeb9eb19727cfd5d57a496b384882c7 | %PEAK Find peaks in vector
%
% YP = PEAK(Y, OPTIONS) are the values of the maxima in the vector Y.
%
% [YP,I] = PEAK(Y, OPTIONS) as above but also returns the indices of the maxima
% in the vector Y.
%
% [YP,XP] = PEAK(Y, X, OPTIONS) as above but also returns the corresponding
% x-coordinates of the maxima in the vect... |
github | ericguerrero/IntersectingFieldsStereo2015-master | numrows.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/numrows.m | 988 | utf_8 | ba74d58782904c272669fa2d5e9f18d9 | %NUMROWS Number of rows in matrix
%
% NR = NUMROWS(M) is the number of rows in the matrix M.
%
% Notes::
% - Readable shorthand for SIZE(M,1);
%
% See also NUMCOLS, SIZE.
% Copyright (C) 1993-2014, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
%
% RTB is free software: you can re... |
github | ericguerrero/IntersectingFieldsStereo2015-master | runscript.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/runscript.m | 7,314 | utf_8 | 413b90b4490a5dbba046f6a489e23619 | %RUNSCRIPT Run an M-file in interactive fashion
%
% RUNSCRIPT(FNAME, OPTIONS) runs the M-file FNAME and pauses after every
% executable line in the file until a key is pressed. Comment lines are shown
% without any delay between lines.
%
% Options::
% 'delay',D Don't wait for keypress, just delay of D seconds (defa... |
github | ericguerrero/IntersectingFieldsStereo2015-master | plot_box.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/plot_box.m | 2,903 | utf_8 | 88e97e1345540ff8c45bca52a5e8dc65 | %PLOT_BOX Draw a box
%
% PLOT_BOX(B, LS) draws a box defined by B=[XL XR; YL YR] on the current
% plot with optional MATLAB linestyle options LS.
%
% PLOT_BOX(X1,Y1, X2,Y2, LS) draws a box with corners at (X1,Y1) and (X2,Y2),
% and optional MATLAB linestyle options LS.
%
% PLOT_BOX('centre', P, 'size', W, LS) draws a b... |
github | ericguerrero/IntersectingFieldsStereo2015-master | symexpr2slblock.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/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 | ericguerrero/IntersectingFieldsStereo2015-master | tb_optparse.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/tb_optparse.m | 11,578 | utf_8 | 5d576d173989d4f4b042041b149d45de | %OPTPARSE Standard option parser for Toolbox functions
%
% OPTOUT = TB_OPTPARSE(OPT, ARGLIST) is a generalized option parser for
% Toolbox functions. OPT is a structure that contains the names and
% default values for the options, and ARGLIST is a cell array containing
% option parameters, typically it comes from VARA... |
github | ericguerrero/IntersectingFieldsStereo2015-master | rvcpath.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/rvcpath.m | 962 | utf_8 | eaada08caa0c35fde7ff585a90a470fa | %RVCPATH Install location of RVC tools
%
% p = RVCPATH is the path of the top level folder for the installed RVC
% tools.
% Copyright (C) 1993-2014, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
%
% RTB is free software: you can redistribute it and/or modify
% it under the terms of... |
github | ericguerrero/IntersectingFieldsStereo2015-master | plotp.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/plotp.m | 1,416 | utf_8 | d2e096bf43da6f7de89117457a6083f3 | %PLOTP Plot trajectories
%
% PLOTP(P) plots a set of points P, which by Toolbox convention are stored
% one per column. P can be Nx2 or Nx3. By default a linestyle of 'bx'
% is used.
%
% PLOTP(P, LS) as above but the line style arguments LS are passed to plot.
%
% See also PLOT, PLOT2.
% Copyright (C) 1993-2014, by ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | bresenham.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/bresenham.m | 2,189 | utf_8 | 6012dd377fd3575f5c8415abfeb8d0bb | %BRESENHAM Generate a line
%
% P = BRESENHAM(X1, Y1, X2, Y2) is a list of integer coordinates (2xN) for
% points lying on the line segement (X1,Y1) to (X2,Y2).
%
% P = BRESENHAM(P1, P2) as above but P1=[X1,Y1] and P2=[X2,Y2].
%
% Notes::
% - Endpoints must be integer values.
%
% See also ICANVAS.
% Copyright (C) 1... |
github | ericguerrero/IntersectingFieldsStereo2015-master | multidfprintf.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/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 | ericguerrero/IntersectingFieldsStereo2015-master | arrow3.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/arrow3.m | 34,357 | utf_8 | bccdc22ba091b13b8077c2ef82659edd | function hn=arrow3(p1,p2,s,w,h,ip,alpha,beta)
% ARROW3 (R13)
% ARROW3(P1,P2) draws lines from P1 to P2 with directional arrowheads.
% P1 and P2 are either nx2 or nx3 matrices. Each row of P1 is an
% initial point, and each row of P2 is a terminal point.
%
% ARROW3(P1,P2,S,W,H,IP,ALPHA,BETA) can be used t... |
github | ericguerrero/IntersectingFieldsStereo2015-master | about.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/about.m | 2,225 | utf_8 | fdfa40951c4fab205d55cdd55c9eb5c3 | %ABOUT Compact display of variable type
%
% ABOUT(X) displays a compact line that describes the class and dimensions of
% X.
%
% ABOUT X as above but this is the command rather than functional form
%
% Examples::
% >> a=1;
% >> about a
% a [double] : 1x1 (8 bytes)
%
% >> a = rand(5,7);
... |
github | ericguerrero/IntersectingFieldsStereo2015-master | numcols.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/numcols.m | 991 | utf_8 | 55c8716aa26a06cafd3487c9e03a6578 | %NUMCOLS Number of columns in matrix
%
% NC = NUMCOLS(M) is the number of columns in the matrix M.
%
% Notes::
% - Readable shorthand for SIZE(M,2);
%
% See also NUMROWS, SIZE.
% Copyright (C) 1993-2014, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
%
% RTB is free software: you c... |
github | ericguerrero/IntersectingFieldsStereo2015-master | isrot2.m | .m | IntersectingFieldsStereo2015-master/rvctools/common/isrot2.m | 1,300 | utf_8 | e0689ff97a4368ed6be3e9d1d2bab823 | %ISROT2 Test if SO(2) rotation matrix
%
% ISROT2(R) is true (1) if the argument is of dimension 2x2 or 2x2xN, else false (0).
%
% ISROT2(R, 'valid') as above, but also checks the validity of the rotation
% matrix.
%
% Notes::
% - A valid rotation matrix has determinant of 1.
%
% See also ISHOMOG2, ISVEC.
% Copyright... |
github | ericguerrero/IntersectingFieldsStereo2015-master | wtrans.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/wtrans.m | 1,242 | utf_8 | 3d7bad7dfd3a4261c0ca6d8c3c19ba5b | %WTRANS Transform a wrench between coordinate frames
%
% WT = WTRANS(T, W) is a wrench (6x1) in the frame represented by the homogeneous
% transform T (4x4) corresponding to the world frame wrench W (6x1).
%
% The wrenches W and WT are 6-vectors of the form [Fx Fy Fz Mx My Mz]'.
%
% See also TR2DELTA, TR2JAC.
% Cop... |
github | ericguerrero/IntersectingFieldsStereo2015-master | mdl_hyper3d.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/mdl_hyper3d.m | 2,403 | utf_8 | e0ef02711c8ead2b3b46d5ddd64729d0 | %MDL_HYPER3D Create model of a hyper redundant 3D manipulator
%
% MDL_HYPER3D is a script that creates the workspace variable h3d which
% describes the kinematic characteristics of a serial link manipulator with
% 10 joints which at zero angles is a straight line in the XY plane.
%
% MDL_HYPER3D(N) as above but creates... |
github | ericguerrero/IntersectingFieldsStereo2015-master | skew.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/skew.m | 1,264 | utf_8 | de17ef39e2a31742b67cb6af26a860b0 | %SKEW Create skew-symmetric matrix
%
% S = SKEW(V) is a skew-symmetric matrix formed from V (3x1).
%
% | 0 -vz vy|
% | vz 0 -vx|
% |-vy vx 0 |
%
% See also VEX.
% Copyright (C) 1993-2015, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
%
% RTB... |
github | ericguerrero/IntersectingFieldsStereo2015-master | mtraj.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/mtraj.m | 3,272 | utf_8 | ad3d0e215bc1d2479e2fb6cfcc7ec1a2 | %MTRAJ Multi-axis trajectory between two points
%
% [Q,QD,QDD] = MTRAJ(TFUNC, Q0, QF, M) is a multi-axis trajectory (MxN) varying
% from configuration Q0 (1xN) to QF (1xN) according to the scalar trajectory function
% TFUNC in M steps. Joint velocity and acceleration can be optionally returned as
% QD (MxN) and QDD (... |
github | ericguerrero/IntersectingFieldsStereo2015-master | transl.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/transl.m | 3,159 | utf_8 | ed2aa6268c6e1819d54ecd3b40b8aa3c | %TRANSL Create or unpack an SE3 translational transform
%
% Create a translational transformation matrix::
%
% T = TRANSL(X, Y, Z) is an SE(3) homogeneous transform (4x4) representing
% a pure translation of X, Y and Z.
%
% T = TRANSL(P) is an SE(3) homogeneous transform (4x4) representing a
% translation of P=[X,Y,Z].... |
github | ericguerrero/IntersectingFieldsStereo2015-master | mdl_offset6.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/mdl_offset6.m | 2,189 | utf_8 | 21f6b65820933754b68e6cc999e1b17c | %MDL_OFFSET6 A minimalistic 6DOF robot arm with shoulder offset
%
% MDL_OFFSET6 is a script that creates the workspace variable off6 which
% describes the kinematic characteristics of a simple arm manipulator with
% a spherical wrist and a shoulder offset, using standard DH conventions.
%
% Also define the workspace ve... |
github | ericguerrero/IntersectingFieldsStereo2015-master | Quaternion.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/Quaternion.m | 24,669 | utf_8 | a354f6d422d837a1bef76c48453c9b05 | %QUATERNION Quaternion class
%
% A quaternion is a compact method of representing a 3D rotation that has
% computational advantages including speed and numerical robustness.
% A quaternion has 2 parts, a scalar s, and a vector v and is typically
% written: q = s <vx, vy, vz>.
%
% A unit-quaternion is one for which ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | lspb.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/lspb.m | 4,375 | utf_8 | 12f6b2f88c4bc3476300a0dff5871126 | %LSPB Linear segment with parabolic blend
%
% [S,SD,SDD] = LSPB(S0, SF, M) is a scalar trajectory (Mx1) that varies
% smoothly from S0 to SF in M steps using a constant velocity segment and
% parabolic blends (a trapezoidal path). Velocity and acceleration can be
% optionally returned as SD (Mx1) and SDD (Mx1).
%
%... |
github | ericguerrero/IntersectingFieldsStereo2015-master | qplot.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/qplot.m | 1,521 | utf_8 | 866f3401741daf05aef9b69918184a32 | %QPLOT Plot robot joint angles
%
% QPLOT(Q) is a convenience function to plot joint angle trajectories (Mx6) for
% a 6-axis robot, where each row represents one time step.
%
% The first three joints are shown as solid lines, the last three joints (wrist)
% are shown as dashed lines. A legend is also displayed.
%
% QP... |
github | ericguerrero/IntersectingFieldsStereo2015-master | tranimate.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/tranimate.m | 4,258 | utf_8 | 6c83c88337ac36d5a853d44847202aad | %TRANIMATE Animate a coordinate frame
%
% TRANIMATE(P1, P2, OPTIONS) animates a 3D coordinate frame moving from pose X1
% to pose X2. Poses X1 and X2 can be represented by:
% - homogeneous transformation matrices (4x4)
% - orthonormal rotation matrices (3x3)
% - Quaternion
%
% TRANIMATE(X, OPTIONS) animates a co... |
github | ericguerrero/IntersectingFieldsStereo2015-master | tr2delta.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/tr2delta.m | 1,953 | utf_8 | 0de6fdf1fd9e0c8794666ea3ff6447f6 | %TR2DELTA Convert homogeneous transform to differential motion
%
% D = TR2DELTA(T0, T1) is the differential motion (6x1) corresponding to
% infinitessimal motion from pose T0 to T1 which are homogeneous
% transformations (4x4). D=(dx, dy, dz, dRx, dRy, dRz) and is an approximation
% to the average spatial velocity mu... |
github | ericguerrero/IntersectingFieldsStereo2015-master | jsingu.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/jsingu.m | 1,374 | utf_8 | a4edf1c07d4deae1d343f83bfbb6a0e5 | %JSINGU Show the linearly dependent joints in a Jacobian matrix
%
% JSINGU(J) displays the linear dependency of joints in a Jacobian matrix.
% This dependency indicates joint axes that are aligned and causes singularity.
%
% See also SerialLink.jacobn.
% Copyright (C) 1993-2015, by Peter I. Corke
%
% This file is par... |
github | ericguerrero/IntersectingFieldsStereo2015-master | troty.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/troty.m | 1,158 | utf_8 | b7578bdd3a56caa8851cf7de9d8eb6de | %TROTY Rotation about Y axis
%
% T = TROTY(THETA) is a homogeneous transformation (4x4) representing a rotation
% of THETA radians about the y-axis.
%
% T = TROTY(THETA, 'deg') as above but THETA is in degrees.
%
% Notes::
% - Translational component is zero.
%
% See also ROTY, TROTX, TROTZ, TROT2.
% Copyright (C) ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | r2t.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/r2t.m | 1,768 | utf_8 | b91524700b24aa409bdc166a1b9600b5 | %R2T Convert rotation matrix to a homogeneous transform
%
% T = R2T(R) is an SE(2) or SE(3) homogeneous transform equivalent to an
% SO(2) or SO(3) orthonormal rotation matrix R with a zero translational
% component.
%
% Notes::
% - Works for T in either SE(2) or SE(3)
% - if R is 2x2 then T is 3x3, or
% - if R is 3x... |
github | ericguerrero/IntersectingFieldsStereo2015-master | rotx.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/rotx.m | 1,238 | utf_8 | 3ebe75a6790ac8f108d8b9d2b96e273e | %ROTX Rotation about X axis
%
% R = ROTX(THETA) is an SO(3) rotation matrix (3x3) representing a rotation of THETA
% radians about the x-axis.
%
% R = ROTX(THETA, 'deg') as above but THETA is in degrees.
%
% See also ROTY, ROTZ, ANGVEC2R, ROT2.
% Copyright (C) 1993-2015, by Peter I. Corke
%
% This file is part of T... |
github | ericguerrero/IntersectingFieldsStereo2015-master | mdl_m16.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/mdl_m16.m | 2,660 | utf_8 | 580ba09453b1fd33115ebd3bbb9e5e20 | %MDL_M16 Create model of Fanuc M16 manipulator
%
% MDL_M16 is a script that creates the workspace variable mico which
% describes the kinematic characteristics of a Fanuc M16 manipulator using
% standard DH conventions.
%
% Also define the workspace vectors:
% qz zero joint angle configuration
% qr ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | oa2tr.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/oa2tr.m | 1,623 | utf_8 | 344a898c16370072d6f8f81063468db2 | %OA2TR Convert orientation and approach vectors to homogeneous transformation
%
% T = OA2TR(O, A) is an SE(3) homogeneous tranformation (4x4) for the
% specified orientation and approach vectors (3x1) formed from 3 vectors
% such that R = [N O A] and N = O x A.
%
% Notes::
% - The rotation submatrix is guaranteed to be... |
github | ericguerrero/IntersectingFieldsStereo2015-master | trotz.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/trotz.m | 1,158 | utf_8 | 6ba600251b68d0c494980859ca0eeace | %TROTZ Rotation about Z axis
%
% T = TROTZ(THETA) is a homogeneous transformation (4x4) representing a rotation
% of THETA radians about the z-axis.
%
% T = TROTZ(THETA, 'deg') as above but THETA is in degrees.
%
% Notes::
% - Translational component is zero.
%
% See also ROTZ, TROTX, TROTY, TROT2.
% Copyright (C) ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | tr2angvec.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/tr2angvec.m | 4,280 | utf_8 | cd1e3f02ecd789db3e1cff5235d9584c | %TR2ANGVEC Convert rotation matrix to angle-vector form
%
% [THETA,V] = TR2ANGVEC(R, OPTIONS) is rotation expressed in terms of an
% angle THETA (1x1) about the axis V (1x3) equivalent to the orthonormal rotation
% matrix R (3x3).
%
% [THETA,V] = TR2ANGVEC(T, OPTIONS) as above but uses the rotational part of the
% homo... |
github | ericguerrero/IntersectingFieldsStereo2015-master | mdl_offset3.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/mdl_offset3.m | 2,060 | utf_8 | d17ad0e5443a09e79f4c6b7b8fd110a6 | %MDL_OFFSET3 A minimalistic 3DOF robot arm with shoulder offset
%
% MDL_OFFSET3 is a script that creates the workspace variable off3 which
% describes the kinematic characteristics of a simple arm manipulator with
% a shoulder offset, using standard DH conventions.
%
% Somewhat like a Puma arm without the wrist.
%
% Al... |
github | ericguerrero/IntersectingFieldsStereo2015-master | joy2tr.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/joy2tr.m | 2,952 | utf_8 | b2e136e65e27f31077cc7186d73d7364 | %JOY2TR Update transform from joystick
%
% T = JOY2TR(T, OPTIONS) updates the SE(3) homogeneous transform (4x4)
% according to spatial velocities sourced from a connected joystick device.
%
% Options::
% 'delay',D Pause for D seconds after reading (default 0.1)
% 'scale',S A 2-vector which scales joystick trans... |
github | ericguerrero/IntersectingFieldsStereo2015-master | mdl_simple6.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/mdl_simple6.m | 2,107 | utf_8 | 22386662c9cba61ebc63d2d24038c11d | %MDL_SIMPLE6 A minimalistic 6DOF robot arm
%
% MDL_SIMPLE6 is a script creates the workspace variable s6 which describes
% the kinematic characteristics of a simple arm manipulator with a
% spherical wrist and no shoulder offset, using standard DH conventions.
%
% Also define the workspace vectors:
% qz zero ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | trot2.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/trot2.m | 1,141 | utf_8 | a215ea330b7bb0dd561cb434e646f7df | %TROT2 SE2 rotation matrix
%
% T = TROT2(THETA) is a homogeneous transformation (3x3) representing a rotation
% of THETA radians.
%
% T = TROT2(THETA, 'deg') as above but THETA is in degrees.
%
% Notes::
% - Translational component is zero.
%
% See also ROT2, TRANSL2, TROTX, TROTY, TROTZ.
% Copyright (C) 1993-2015,... |
github | ericguerrero/IntersectingFieldsStereo2015-master | plotbotopt.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/plotbotopt.m | 1,023 | utf_8 | c61412dc4aa24229d6301a2f70b2c86f | %PLOTBOTOPT Define default options for robot plotting
%
% A user provided function that returns a cell array of default
% plot options for the SerialLink.plot method.
%
% See also SerialLink.plot.
% Copyright (C) 1993-2015, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
%
% RTB is... |
github | ericguerrero/IntersectingFieldsStereo2015-master | trplot.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/trplot.m | 10,794 | utf_8 | 096bb9b6cf6545ccae3d03b7acd389e8 | %TRPLOT Draw a coordinate frame
%
% TRPLOT(T, OPTIONS) draws a 3D coordinate frame represented by the homogeneous
% transform T (4x4).
%
% H = TRPLOT(T, OPTIONS) as above but returns a handle.
%
% TRPLOT(H, T) moves the coordinate frame described by the handle H to
% the pose T (4x4).
%
% TRPLOT(R, OPTIONS) as above b... |
github | ericguerrero/IntersectingFieldsStereo2015-master | rot2.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/rot2.m | 1,185 | utf_8 | b1888c5b3e2422b572e949c4367fcf2a | %ROT2 SO(2) Rotation matrix
%
% R = ROT2(THETA) is an SO(2) rotation matrix representing a rotation of THETA
% radians.
%
% R = ROT2(THETA, 'deg') as above but THETA is in degrees.
%
% See also TROT2, ROTX, ROTY, ROTZ.
% Copyright (C) 1993-2015, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MA... |
github | ericguerrero/IntersectingFieldsStereo2015-master | trchain2.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/trchain2.m | 3,095 | utf_8 | a264398704fdac955cc706c7d7095605 | %TRCHAIN2 Chain 2D transforms from string
%
% T = TRCHAIN2(S, Q) is a homogeneous transform (3x3) that results from
% compounding a number of elementary transformations defined by the string
% S. The string S comprises a number of tokens of the form X(ARG) where
% X is one of Tx, Ty or R. ARG is the name of a variabl... |
github | ericguerrero/IntersectingFieldsStereo2015-master | eul2r.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/eul2r.m | 2,544 | utf_8 | f4d7696b20289da3514c6c54c0506598 | %EUL2R Convert Euler angles to rotation matrix
%
% R = EUL2R(PHI, THETA, PSI, OPTIONS) is an SO(2) orthonornal rotation
% matrix (3x3) equivalent to the specified Euler angles. These correspond
% to rotations about the Z, Y, Z axes respectively. If PHI, THETA, PSI are
% column vectors (Nx1) then they are assumed to re... |
github | ericguerrero/IntersectingFieldsStereo2015-master | tr2jac.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/tr2jac.m | 1,188 | utf_8 | 1f9fcebd015bd0d7ab6e08c137ce13d5 | %TR2JAC Jacobian for differential motion
%
% J = TR2JAC(T) is a Jacobian matrix (6x6) that maps spatial velocity or
% differential motion from the world frame to the frame represented by
% the homogeneous transform T (4x4).
%
% See also WTRANS, TR2DELTA, DELTA2TR.
% Copyright (C) 1993-2015, by Peter I. Corke
%
% Th... |
github | ericguerrero/IntersectingFieldsStereo2015-master | jtraj.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/jtraj.m | 2,917 | utf_8 | 4a34c6dcf3e493d6486dbb3454b55f35 | %JTRAJ Compute a joint space trajectory between two configurations
%
% [Q,QD,QDD] = JTRAJ(Q0, QF, M) is a joint space trajectory Q (MxN) where the joint
% coordinates vary from Q0 (1xN) to QF (1xN). A quintic (5th order) polynomial is used
% with default zero boundary conditions for velocity and acceleration.
% Tim... |
github | ericguerrero/IntersectingFieldsStereo2015-master | rotz.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/rotz.m | 1,235 | utf_8 | 27076caec3b0102aa9889f55255d9c31 | %ROTZ Rotation about Z axis
%
% R = ROTZ(THETA) is an SO(3) rotation matrix (3x3) representing a rotation of THETA
% radians about the z-axis.
%
% R = ROTZ(THETA, 'deg') as above but THETA is in degrees.
%
% See also ROTX, ROTY, ANGVEC2R, ROT2.
% Copyright (C) 1993-2015, by Peter I. Corke
%
% This file is part of T... |
github | ericguerrero/IntersectingFieldsStereo2015-master | angvec2tr.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/angvec2tr.m | 1,225 | utf_8 | 751cedce32d68c1715714b814022c35f | %ANGVEC2TR Convert angle and vector orientation to a homogeneous transform
%
% T = ANGVEC2TR(THETA, V) is a homogeneous transform matrix (4x4) equivalent to a
% rotation of THETA about the vector V.
%
% Note::
% - The translational part is zero.
%
% See also EUL2TR, RPY2TR, ANGVEC2R, TR2ANGVEC.
% Copyright (C) 1993-... |
github | ericguerrero/IntersectingFieldsStereo2015-master | mdl_irb140.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/mdl_irb140.m | 2,651 | utf_8 | b995561d1b3d52ed02775baaf99b7e8d | %MDL_IRB140 Create model of ABB IRB 140 manipulator
%
% MDL_IRB140 is a script that creates the workspace variable robot which
% describes the kinematic characteristics of an ABB IRB 140 manipulator
% using standard DH conventions.
%
% Also define the workspace vectors:
% qz zero joint angle configuration
% ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | tpoly.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/tpoly.m | 3,768 | utf_8 | 9f2a025cf958db23988ab08f58f652bc | %TPOLY Generate scalar polynomial trajectory
%
% [S,SD,SDD] = TPOLY(S0, SF, M) is a scalar trajectory (Mx1) that varies
% smoothly from S0 to SF in M steps using a quintic (5th order) polynomial.
% Velocity and acceleration can be optionally returned as SD (Mx1) and SDD (Mx1).
%
% TPOLY(S0, SF, M) as above but plots S... |
github | ericguerrero/IntersectingFieldsStereo2015-master | rpy2tr.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/rpy2tr.m | 2,136 | utf_8 | 655bc207ec6fef0154a873dbf9a9ed3a | %RPY2TR Roll-pitch-yaw angles to homogeneous transform
%
% T = RPY2TR(ROLL, PITCH, YAW, OPTIONS) is an SE(3) homogeneous
% transformation matrix (4x4) equivalent to the specified roll, pitch, yaw
% angles angles. These correspond to rotations about the X, Y, Z axes
% respectively. If ROLL, PITCH, YAW are column vectors... |
github | ericguerrero/IntersectingFieldsStereo2015-master | mdl_jaco.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/mdl_jaco.m | 2,905 | utf_8 | 6ba196892446392431417414c1538cda | %MDL_JACO Create model of Kinova Jaco manipulator
%
% MDL_JACO is a script that creates the workspace variable jaco which
% describes the kinematic characteristics of a Kinova Jaco manipulator
% using standard DH conventions.
%
% Also define the workspace vectors:
% qz zero joint angle configuration
% qr ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | mdl_coil.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/mdl_coil.m | 2,088 | utf_8 | bf84aaebc15c6eda46cea38ecdc4ea84 | %MDL_COIL Create model of a coil manipulator
%
% MDL_COIL creates the workspace variable coil which describes the
% kinematic characteristics of a serial link manipulator with 50 joints
% that folds into a helix shape.
%
% MDL_BALL(N) as above but creates a manipulator with N joints.
%
% Also defines the workspace vect... |
github | ericguerrero/IntersectingFieldsStereo2015-master | trinterp.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/trinterp.m | 2,275 | utf_8 | 6f08db585584a93ac7bfddd00931fbf7 | %TRINTERP Interpolate homogeneous transformations
%
% T = TRINTERP(T0, T1, S) is a homogeneous transform (4x4) interpolated
% between T0 when S=0 and T1 when S=1. T0 and T1 are both homogeneous
% transforms (4x4). Rotation is interpolated using quaternion spherical
% linear interpolation (slerp). If S (Nx1) then T (... |
github | ericguerrero/IntersectingFieldsStereo2015-master | se3.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/se3.m | 1,090 | utf_8 | 2c3e2b943539eeece34662380defd5c8 | %SE3 Lift SE(2) transform to SE(3)
%
% T3 = SE3(T2) returns a homogeneous transform (4x4) that represents
% the same X,Y translation and Z rotation as does T2 (3x3).
%
% See also SE2, TRANSL, ROTX.
% Copyright (C) 1993-2015, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
%
% RTB is... |
github | ericguerrero/IntersectingFieldsStereo2015-master | oa2r.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/oa2r.m | 1,584 | utf_8 | 8a251ebacad7fd6049a621b739b753e8 | %OA2R Convert orientation and approach vectors to rotation matrix
%
% R = OA2R(O, A) is an SO(3) rotation matrix (3x3) for the specified
% orientation and approach vectors (3x1) formed from 3 vectors such that R
% = [N O A] and N = O x A.
%
% Notes::
% - The submatrix is guaranteed to be orthonormal so long as O and A ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | roty.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/roty.m | 1,228 | utf_8 | 74c9979c7e122bea54ee85d3b9b3ea58 | %ROTY Rotation about Y axis
%
% R = ROTY(THETA) is an SO(3) rotation matrix (3x3) representing a rotation of THETA
% radians about the y-axis.
%
% R = ROTY(THETA, 'deg') as above but THETA is in degrees.
%
% See also ROTX, ROTZ, ANGVEC2R, ROT2.
% Copyright (C) 1993-2015, by Peter I. Corke
%
% This file is part of T... |
github | ericguerrero/IntersectingFieldsStereo2015-master | mstraj.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/mstraj.m | 6,851 | utf_8 | 36a39b1fe02e657eb4651b643f2a0c89 | %MSTRAJ Multi-segment multi-axis trajectory
%
% TRAJ = MSTRAJ(P, QDMAX, TSEG, Q0, DT, TACC, OPTIONS) is a trajectory
% (KxN) for N axes moving simultaneously through M segment. Each segment
% is linear motion and polynomial blends connect the segments. The axes
% start at Q0 (1xN) and pass through M-1 via points defi... |
github | ericguerrero/IntersectingFieldsStereo2015-master | eul2jac.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/eul2jac.m | 1,545 | utf_8 | 9d0275ce4c2d09f3eb34c3041f9262f2 | %EUL2JAC Euler angle rate Jacobian
%
% J = EUL2JAC(EUL) is a Jacobian matrix (3x3) that maps Euler angle rates to
% angular velocity at the operating point EUL=[PHI, THETA, PSI].
%
% J = EUL2JAC(PHI, THETA, PSI) as above but the Euler angles are passed
% as separate arguments.
%
% Notes::
% - Used in the creation of ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | trscale.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/trscale.m | 1,272 | utf_8 | 09b12231a27cfeb9472653ac1ffb5b3f | %TRSCALE Homogeneous transformation for pure scale
%
% T = TRSCALE(S) is a homogeneous transform (4x4) corresponding to a pure
% scale change. If S is a scalar the same scale factor is used for x,y,z,
% else it can be a 3-vector specifying scale in the x-, y- and
% z-directions.
%
% Copyright (C) 1993-2015, by Peter... |
github | ericguerrero/IntersectingFieldsStereo2015-master | distancexform.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/distancexform.m | 3,167 | utf_8 | 862cea63e935bbd3e52e620cceac14a2 | %DISTANCEXFORM Distance transform of occupancy grid
%
% D = DISTANCEXFORM(WORLD, GOAL) is the distance transform of the occupancy
% grid WORLD with respect to the specified goal point GOAL = [X,Y]. The
% cells of the grid have values of 0 for free space and 1 for obstacle.
%
% D = DISTANCEXFORM(WORLD, GOAL, METRIC) a... |
github | ericguerrero/IntersectingFieldsStereo2015-master | eul2tr.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/eul2tr.m | 1,894 | utf_8 | 9c4368bef610e91a51cb710fbb8f51c7 | %EUL2TR Convert Euler angles to homogeneous transform
%
% T = EUL2TR(PHI, THETA, PSI, OPTIONS) is a SE(3) homogeneous
% transformation matrix (4x4) equivalent to the specified Euler angles.
% These correspond to rotations about the Z, Y, Z axes respectively. If
% PHI, THETA, PSI are column vectors (Nx1) then they are a... |
github | ericguerrero/IntersectingFieldsStereo2015-master | unit.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/unit.m | 1,054 | utf_8 | 59f21e9d63ebff6e1e143406c52007f8 | %UNIT Unitize a vector
%
% VN = UNIT(V) is a unit-vector parallel to V.
%
% Note::
% - Reports error for the case where norm(V) is zero.
% Copyright (C) 1993-2015, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
%
% RTB is free software: you can redistribute it and/or modify
% it u... |
github | ericguerrero/IntersectingFieldsStereo2015-master | mdl_mico.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/mdl_mico.m | 3,566 | utf_8 | 39e60de38e6afba9a15d1b17883ec8b0 | %MDL_MICO Create model of Kinova Mico manipulator
%
% MDL_MICO is a script that creates the workspace variable mico which
% describes the kinematic characteristics of a Kinova Mico manipulator
% using standard DH conventions.
%
% Also define the workspace vectors:
% qz zero joint angle configuration
% qr ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | t2r.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/t2r.m | 1,743 | utf_8 | fca3cbbb5f3f6491556b78aad1109120 | %T2R Rotational submatrix
%
% R = T2R(T) is the orthonormal rotation matrix component of homogeneous
% transformation matrix T. Works for T in SE(2) or SE(3)
% - If T is 4x4, then R is 3x3.
% - If T is 3x3, then R is 2x2.
%
% Notes::
% - For a homogeneous transform sequence returns a rotation matrix sequence
% - The ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | makemap.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/makemap.m | 5,561 | utf_8 | 2e7868da6013b40067d09a454fb0564d | %MAKEMAP Make an occupancy map
%
% map = makemap(N) is an occupancy grid map (NxN) created by a simple
% interactive editor. The map is initially unoccupied and obstacles can
% be added using geometric primitives.
%
% map = makemap() as above but N=128.
%
% map = makemap(map0) as above but the map is initialized from... |
github | ericguerrero/IntersectingFieldsStereo2015-master | trnorm.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/trnorm.m | 2,163 | utf_8 | d29e4932b9408f49f83ebc34effa0695 | %TRNORM Normalize a rotation matrix
%
% RN = TRNORM(R) is guaranteed to be a proper orthogonal matrix rotation
% matrix (3x3) which is "close" to the non-orthogonal matrix R (3x3). If R
% = [N,O,A] the O and A vectors are made unit length and the normal vector
% is formed from N = O x A, and then we ensure that O and A... |
github | ericguerrero/IntersectingFieldsStereo2015-master | tr2rt.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/tr2rt.m | 1,749 | utf_8 | 2552fdeceed416b1145bb3adf21ee685 | %TR2RT Convert homogeneous transform to rotation and translation
%
% [R,t] = TR2RT(TR) splits a homogeneous transformation matrix (NxN) into an
% orthonormal rotation matrix R (MxM) and a translation vector t (Mx1), where
% N=M+1.
%
% Works for TR in SE(2) or SE(3)
% - If TR is 4x4, then R is 3x3 and T is 3x1.
% - ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | vex.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/vex.m | 1,456 | utf_8 | 2b18d941c21d3cad27d744558fc9d656 | %VEX Convert skew-symmetric matrix to vector
%
% V = VEX(S) is the vector (3x1) which has the skew-symmetric matrix S (3x3)
%
% | 0 -vz vy|
% | vz 0 -vx|
% |-vy vx 0 |
%
% Notes::
% - This is the inverse of the function SKEW().
% - No checking is done to ensure that the matrix is ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | trplot2.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/trplot2.m | 5,764 | utf_8 | 8a9b045e8210a0465a20dc74dfc4f82d | %TRPLOT2 Plot a planar transformation
%
% TRPLOT2(T, OPTIONS) draws a 2D coordinate frame represented by the SE(2)
% homogeneous transform T (3x3).
%
% H = TRPLOT2(T, OPTIONS) as above but returns a handle.
%
% TRPLOT2(H, T) moves the coordinate frame described by the handle H to
% the SE(2) pose T (3x3).
%
% Options::... |
github | ericguerrero/IntersectingFieldsStereo2015-master | delta2tr.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/delta2tr.m | 1,221 | utf_8 | a6fa6a387011e9dee1f706e2232e1b13 | %DELTA2TR Convert differential motion to a homogeneous transform
%
% T = DELTA2TR(D) is a homogeneous transform (4x4) representing differential
% translation and rotation. The vector D=(dx, dy, dz, dRx, dRy, dRz)
% represents an infinitessimal motion, and is an approximation to the spatial
% velocity multiplied by t... |
github | ericguerrero/IntersectingFieldsStereo2015-master | trprint.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/trprint.m | 4,174 | utf_8 | bd0543184962f74800732aedde450c4e | %TRPRINT Compact display of homogeneous transformation
%
% TRPRINT(T, OPTIONS) displays the homogoneous transform in a compact
% single-line format. If T is a homogeneous transform sequence then each
% element is printed on a separate line.
%
% S = TRPRINT(T, OPTIONS) as above but returns the string.
%
% TRPRINT T ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | ctraj.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/ctraj.m | 2,189 | utf_8 | f02f9befdeb8c178b1342e402bf24069 | %CTRAJ Cartesian trajectory between two poses
%
% TC = CTRAJ(T0, T1, N) is a Cartesian trajectory (4x4xN) from pose T0 to T1
% with N points that follow a trapezoidal velocity profile along the path.
% The Cartesian trajectory is a homogeneous transform sequence and the last
% subscript being the point index, that is,... |
github | ericguerrero/IntersectingFieldsStereo2015-master | tr2eul.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/tr2eul.m | 2,674 | utf_8 | 7dfd057d03558f2ad5f572df41899621 | %TR2EUL Convert homogeneous transform to Euler angles
%
% EUL = TR2EUL(T, OPTIONS) are the ZYZ Euler angles (1x3) corresponding to
% the rotational part of a homogeneous transform T (4x4). The 3 angles
% EUL=[PHI,THETA,PSI] correspond to sequential rotations about the Z, Y and
% Z axes respectively.
%
% EUL = TR2EUL(R,... |
github | ericguerrero/IntersectingFieldsStereo2015-master | rtbdemo.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/rtbdemo.m | 6,673 | utf_8 | f2c4d1a9dee0103e0571b4bac6af90fb | %RTBDEMO Robot toolbox demonstrations
%
% rtbdemo displays a menu of toolbox demonstration scripts that illustrate:
% - homogeneous transformations
% - trajectories
% - forward kinematics
% - inverse kinematics
% - robot animation
% - inverse dynamics
% - forward dynamics
%
% rtbdemo(T) as above but wait... |
github | ericguerrero/IntersectingFieldsStereo2015-master | tripleangle.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/tripleangle.m | 11,547 | utf_8 | 5847479b00aeaede86346357279aea26 |
% Copyright (C) 1993-2015, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
%
% RTB is free software: you can redistribute it and/or modify
% it under the terms of the GNU Lesser General Public License as published by
% the Free Software Foundation, either version 3 of the License, or... |
github | ericguerrero/IntersectingFieldsStereo2015-master | tr2rpy.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/tr2rpy.m | 3,205 | utf_8 | 28a584aec115635fc227837397991531 | %TR2RPY Convert a homogeneous transform to roll-pitch-yaw angles
%
% RPY = TR2RPY(T, options) are the roll-pitch-yaw angles (1x3)
% corresponding to the rotation part of a homogeneous transform T. The 3
% angles RPY=[R,P,Y] correspond to sequential rotations about the X, Y and
% Z axes respectively.
%
% RPY = TR2RPY(R,... |
github | ericguerrero/IntersectingFieldsStereo2015-master | plot_vehicle.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/plot_vehicle.m | 1,951 | utf_8 | bf3189092a1f0bda401ce1adeb08cea4 | %plot_vehicle Draw ground vehicle pose
%
% PLOT_VEHICLE(X,OPTIONS) draws a representation of ground robot as an
% oriented triangle with pose X (1x3) = [x,y,theta] or X (3x3) as an SE(2)
% homogeneous transform.
%
% Options::
% 'scale',S Draw vehicle with length S x maximum axis dimension (default
% 1/6... |
github | ericguerrero/IntersectingFieldsStereo2015-master | rpy2r.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/rpy2r.m | 3,214 | utf_8 | f819765e8d3eed19e1473ba9b4098c90 | %RPY2R Roll-pitch-yaw angles to rotation matrix
%
% R = RPY2R(ROLL, PITCH, YAW, OPTIONS) is an SO(3) orthonornal rotation
% matrix (3x3) equivalent to the specified roll, pitch, yaw angles angles.
% These correspond to rotations about the X, Y, Z axes respectively. If
% ROLL, PITCH, YAW are column vectors (Nx1) then th... |
github | ericguerrero/IntersectingFieldsStereo2015-master | transl2.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/transl2.m | 2,470 | utf_8 | d22f3cb3d176b5675bd531f23cf789f0 | %TRANSL2 Create or unpack an SE2 translational transform
%
% Create a translational transformation matrix::
%
% T = TRANSL2(X, Y) is an SE2 homogeneous transform (3x3) representing a
% pure translation.
%
% T = TRANSL2(P) is a homogeneous transform representing a translation or
% point P=[X,Y]. If P (Mx2) it represents... |
github | ericguerrero/IntersectingFieldsStereo2015-master | trotx.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/trotx.m | 1,155 | utf_8 | ab094b8fdd02eaf5740e4f04dc8fd9b3 | %TROTX Rotation about X axis
%
% T = TROTX(THETA) is a homogeneous transformation (4x4) representing a rotation
% of THETA radians about the x-axis.
%
% T = TROTX(THETA, 'deg') as above but THETA is in degrees.
%
% Notes::
% - Translational component is zero.
%
% See also ROTX, TROTY, TROTZ, TROT2.
% Copyright (C) ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | rt2tr.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/rt2tr.m | 1,848 | utf_8 | 308795dd5b9e9002f63f191c922dd158 | %RT2TR Convert rotation and translation to homogeneous transform
%
% TR = RT2TR(R, t) is a homogeneous transformation matrix (MxM) formed from an
% orthonormal rotation matrix R (NxN) and a translation vector t (Nx1) where
% M=N+1.
%
% For a sequence R (NxNxK) and t (NxK) results in a transform sequence (MxMxK).
%
% N... |
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