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github | ericguerrero/IntersectingFieldsStereo2015-master | angvec2r.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/angvec2r.m | 1,449 | utf_8 | 88addb45baa17d91d8330cde805e577c | %ANGVEC2R Convert angle and vector orientation to a rotation matrix
%
% R = ANGVEC2R(THETA, V) is an orthonormal rotation matrix (3x3)
% equivalent to a rotation of THETA about the vector V.
%
% See also eul2r, rpy2r, tr2angvec.
% Copyright (C) 1993-2015, by Peter I. Corke
%
% This file is part of The Robotics Toolb... |
github | ericguerrero/IntersectingFieldsStereo2015-master | Link.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/Link.m | 34,036 | utf_8 | 043ca96de39cd69a53163dde7a00200b | %LINK Robot manipulator Link class
%
% A Link object holds all information related to a robot link such as
% kinematics parameters, rigid-body inertial parameters, motor and
% transmission parameters.
%
% Methods::
% A link transform matrix
% RP joint type: 'R' or 'P'
% friction friction ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | rpy2jac.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/rpy2jac.m | 1,517 | utf_8 | 429565e45d5194414ac5c58de0598aa7 | %RPY2JAC Jacobian from RPY angle rates to angular velocity
%
% J = RPY2JAC(EUL) is a Jacobian matrix (3x3) that maps roll-pitch-yaw angle
% rates to angular velocity at the operating point RPY=[R,P,Y].
%
% J = RPY2JAC(R, P, Y) as above but the roll-pitch-yaw angles are passed
% as separate arguments.
%
% Notes::
% - U... |
github | ericguerrero/IntersectingFieldsStereo2015-master | mdl_hyper2d.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/mdl_hyper2d.m | 2,275 | utf_8 | 7f913f702761ee8895c9dfbd9ef2372b | %MDL_HYPER2D Create model of a hyper redundant planar manipulator
%
% MDL_HYPER2D creates the workspace variable h2d which describes the
% kinematic characteristics of a serial link manipulator with 10 joints
% which at zero angles is a straight line in the XY plane.
%
% MDL_HYPER2D(N) as above but creates a manipulato... |
github | ericguerrero/IntersectingFieldsStereo2015-master | se2.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/se2.m | 1,798 | utf_8 | e94454d6ffe48c6fa86b481441065f7b | %SE2 Create planar translation and rotation transformation
%
% T = SE2(X, Y, THETA) is an SE(2) homogeneous transformation (3x3)
% representing translation X and Y, and rotation THETA in the plane.
%
% T = SE2(XY) as above where XY=[X,Y] and rotation is zero
%
% T = SE2(XY, THETA) as above where XY=[X,Y]
%
% T = SE2(X... |
github | ericguerrero/IntersectingFieldsStereo2015-master | mdl_ball.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/mdl_ball.m | 2,372 | utf_8 | 011de05485b251ad15e6bc5f8529bc4a | %MDL_BALL Create model of a ball manipulator
%
% MDL_BALL creates the workspace variable ball which describes the
% kinematic characteristics of a serial link manipulator with 50 joints
% that folds into a ball shape.
%
% MDL_BALL(N) as above but creates a manipulator with N joints.
%
% Also define the workspace vector... |
github | ericguerrero/IntersectingFieldsStereo2015-master | trchain.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/trchain.m | 3,383 | utf_8 | c7025e00cae908193a93380450ea3de1 | %TRCHAIN Chain 3D transforms from string
%
% T = TRCHAIN(S, Q) is a homogeneous transform (4x4) that results from
% compounding a number of elementary transformations defined by the string
% S. The string S comprises a number of tokens of the form X(ARG) where
% X is one of Tx, Ty, Tz, Rx, Ry, or Rz. ARG is the name ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genslblockinvdyn.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genslblockinvdyn.m | 5,724 | utf_8 | c955fe8b1c4f9218ccefb486865d66e3 | %CODEGENERATOR.GENSLBLOCKINVDYN Generate Simulink block for inverse dynamics
%
% cGen.genslblockinvdyn() generates a robot-specific Simulink block to compute
% inverse dynamics.
%
% Notes::
% - Is called by CodeGenerator.geninvdyn if cGen has active flag genslblock
% - The generated Simulink block is composed of... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genccodeinertia.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genccodeinertia.m | 8,186 | utf_8 | b5b74e2dfe3efe794b0b2d5e95b6c1b8 | %CODEGENERATOR.GENCCODEINERTIA Generate C-function for robot inertia matrix
%
% cGen.genccodeinertia() generates robot-specific C-functions to compute
% the robot inertia matrix.
%
% Notes::
% - Is called by CodeGenerator.geninertia if cGen has active flag genccode or
% genmex.
% - The generated .c and .h fil... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genccodecoriolis.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genccodecoriolis.m | 8,395 | utf_8 | 7cbd3d0c1dc4484f93e8bbf65eb3d5c8 | %CODEGENERATOR.GENCCODECORIOLIS Generate C-function for robot inertia matrix
%
% cGen.genccodecoriolis() generates robot-specific C-functions to compute
% the robot coriolis matrix.
%
% Notes::
% - Is called by CodeGenerator.gencoriolis if cGen has active flag genccode or
% genmex.
% - The .c and .h files are... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genmexinvdyn.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genmexinvdyn.m | 4,996 | utf_8 | 291a151d3346724fcd00c543d7550c7b | %CODEGENERATOR.GENMEXINVDYN Generate C-MEX-function for inverse dynamics
%
% cGen.genmexinvdyn() generates a robot-specific MEX-function to compute
% the inverse dynamics.
%
% Notes::
% - Is called by CodeGenerator.geninvdyn if cGen has active flag genmex.
% - The MEX file uses the .c and .h files generated in ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genmexfriction.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genmexfriction.m | 3,721 | utf_8 | a9814b9b6e885a481dec4d4c55d862f5 | %CODEGENERATOR.GENMEXFRICTION Generate C-MEX-function for joint friction
%
% cGen.genmexfriction() generates a robot-specific MEX-function to compute
% the vector of joint friction.
%
% Notes::
% - Is called by CodeGenerator.genfriction if cGen has active flag genmex
% - The MEX file uses the .c and .h files gen... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genmexfdyn.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genmexfdyn.m | 5,183 | utf_8 | eb8eeeda2303e75caec906da342beb0d | %CODEGENERATOR.GENMEXFDYN Generate C-MEX-function for forward dynamics
%
% cGen.genmexfdyn() generates a robot-specific MEX-function to compute
% the forward dynamics.
%
% Notes::
% - Is called by CodeGenerator.genfdyn if cGen has active flag genmex
% - The MEX file uses the .c and .h files generated in the dir... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genslblockcoriolis.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genslblockcoriolis.m | 6,317 | utf_8 | 58bf6990769ae63c7744138970ec2b07 | %CODEGENERATOR.GENSLBLOCKCORIOLIS Generate Simulink block for Coriolis matrix
%
% cGen.genslblockcoriolis() generates a robot-specific Simulink block to compute
% Coriolis/centripetal matrix.
%
% Notes::
% - Is called by CodeGenerator.gencoriolis if cGen has active flag genslblock
% - The Coriolis matrix is stor... |
github | ericguerrero/IntersectingFieldsStereo2015-master | geninvdyn.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/geninvdyn.m | 4,980 | utf_8 | 62f5f73b6e665fa36c21bf895c0aef31 | %CODEGENERATOR.GENINVDYN Generate code for inverse dynamics
%
% TAU = cGen.geninvdyn() is the symbolic vector (1xN) of joint forces/torques.
%
% Notes::
% - The inverse dynamics vector is composed of the previously computed inertia matrix
% coriolis matrix, vector of gravitational load and joint friction for sp... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genfkine.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genfkine.m | 3,515 | utf_8 | 5c85c5120598426f07e052a234d1a36d | %CODEGENERATOR.GENFKINE Generate code for forward kinematics
%
% T = cGen.genfkine() generates a symbolic homogeneous transform matrix (4x4) representing
% the pose of the robot end-effector in terms of the symbolic joint coordinates q1, q2, ...
%
% [T, ALLT] = cGen.genfkine() as above but also generates symbolic ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genmfunjacobian.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genmfunjacobian.m | 6,072 | utf_8 | 869491204f263f60f847794e913fd672 | %CODEGENERATOR.GENMFUNJACOBIAN Generate M-functions for robot Jacobian
%
% cGen.genmfunjacobian() generates a robot-specific M-function to compute
% robot Jacobian.
%
% Notes::
% - Is called by CodeGenerator.genjacobian, if cGen has active flag genmfun
% - Access to generated function is provided via subclass of... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genslblockgravload.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genslblockgravload.m | 2,915 | utf_8 | deff8478f55341abff93ff093a15d52a | %CODEGENERATOR.GENSLBLOCKGRAVLOAD Generate Simulink block for gravitational load
%
% cGen.genslblockgravload() generates a robot-specific Simulink block to compute
% gravitational load.
%
% Notes::
% - Is called by CodeGenerator.gengravload if cGen has active flag genslblock
% - The Simulink blocks are generated... |
github | ericguerrero/IntersectingFieldsStereo2015-master | gengravload.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/gengravload.m | 2,920 | utf_8 | bd14a1fd4ffcb79057a1eaa18024a62b | %CODEGENERATOR.GENGRAVLOAD Generate code for gravitational load
%
% G = cGen.gengravload() is a symbolic vector (1xN) of joint load
% forces/torques due to gravity.
%
% Notes::
% - Side effects of execution depends on the cGen flags:
% - saveresult: the symbolic expressions are saved to
% disk in the d... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genslblockfriction.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genslblockfriction.m | 2,955 | utf_8 | 21e05afc6f65d9a2d1d0660c7d75833e | %CODEGENERATOR.GENSLBLOCKFRICTION Generate Simulink block for joint friction
%
% cGen.genslblockfriction() generates a robot-specific Simulink block to compute
% the joint friction model.
%
% Notes::
% - Is called by CodeGenerator.genfriction if cGen has active flag genslblock
% - The Simulink blocks are generat... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genmfunfriction.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genmfunfriction.m | 3,964 | utf_8 | d7fb64be7541246dfe5f3e5eb6e563e7 | %CODEGENERATOR.GENMFUNFRICTION Generate M-function for joint friction
%
% cGen.genmfunfriction() generates a robot-specific M-function to compute
% joint friction.
%
% Notes::
% - Is called only if cGen has active flag genmfun
% - Access to generated function is provided via subclass of SerialLink
% whose cl... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genmexcoriolis.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genmexcoriolis.m | 6,232 | utf_8 | 376fb3e5f05318511bb33842a1088824 | %CODEGENERATION.GENMEXCORIOLIS Generate C-MEX-function for robot coriolis matrix
%
% cGen.genmexcoriolis() generates robot-specific MEX-functions to compute
% robot coriolis matrix.
%
% Notes::
% - Is called by CodeGenerator.gencoriolis if cGen has active flag genmex
% - The MEX file uses the .c and .h files gen... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genmfungravload.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genmfungravload.m | 4,085 | utf_8 | d7da7274a9cd09da0e2ad7fb2004f6a4 | %CODEGENERATOR.GENMFUNGRAVLOAD Generate M-functions for gravitational load
%
% cGen.genmfungravload() generates a robot-specific M-function to compute
% gravitation load forces and torques.
%
% Notes::
% - Is called by CodeGenerator.gengravload if cGen has active flag genmfun
% - Access to generated function is ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genslblockfdyn.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genslblockfdyn.m | 6,354 | utf_8 | 4a871954610cbcc3e620539db574150d | %CODEGENERATOR.GENSLBLOCKFDYN Generate Simulink block for forward dynamics
%
% cGen.genslblockfdyn() generates a robot-specific Simulink block to compute
% forward dynamics.
%
% Notes::
% - Is called by CodeGenerator.genfdyn if cGen has active flag genslblock
% - The generated Simulink block is composed of previ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genmexinertia.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genmexinertia.m | 6,022 | utf_8 | 2885568f8638b139afbe322bb4e162e2 | %CODEGENERATION.GENMEXINERTIA Generate C-MEX-function for robot inertia matrix
%
% cGen.genmexinertia() generates robot-specific MEX-functions to compute
% robot inertia matrix.
%
% Notes::
% - Is called by CodeGenerator.geninertia if cGen has active flag genmex
% - The MEX file uses the .c and .h files generate... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genjacobian.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genjacobian.m | 3,105 | utf_8 | c2fd4cd463a68f43cb0d26c8da614305 | %CODEGENERATOR.GENJACOBIAN Generate code for robot Jacobians
%
% J0 = cGen.genjacobian() is the symbolic expression for the Jacobian
% matrix (6xN) expressed in the base coordinate frame.
%
% [J0, Jn] = cGen.genjacobian() as above but also returns the symbolic
% expression for the Jacobian matrix (6xN) expresse... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genmexjacobian.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genmexjacobian.m | 5,809 | utf_8 | d0c6cdfbd4ce1a36012e14eaa52ab7db | %CODEGENERATOR.GENMEXJACOBIAN Generate C-MEX-function for the robot Jacobians
%
% cGen.genmexjacobian() generates robot-specific MEX-function to compute
% the robot Jacobian with respect to the base as well as the end effector
% frame.
%
% Notes::
% - Is called by CodeGenerator.genjacobian if cGen has active fla... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genfdyn.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genfdyn.m | 4,945 | utf_8 | d074c077f64223415710f3dee7669505 | %CODEGENERATOR.GENFDYN Generate code for forward dynamics
%
% Iqdd = cGen.genfdyn() is a symbolic vector (1xN) of joint inertial
% reaction forces/torques.
%
% Notes::
% - Side effects of execution depends on the cGen flags:
% - saveresult: the symbolic expressions are saved to
% disk in the directory sp... |
github | ericguerrero/IntersectingFieldsStereo2015-master | gencoriolis.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/gencoriolis.m | 3,271 | utf_8 | 610b6561d71cb22797305e5e86f83607 | %CODEGENERATOR.GENCORIOLIS Generate code for Coriolis force
%
% coriolis = cGen.gencoriolis() is a symbolic matrix (NxN) of centrifugal and Coriolis
% forces/torques.
%
% Notes::
% - The Coriolis matrix is stored row by row to avoid memory issues.
% The generated code recombines these rows to output the full m... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genccodefdyn.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genccodefdyn.m | 8,381 | utf_8 | 5c5bc45f8a7a7efd4a8b6c2296b4523c | %CODEGENERATOR.GENCCODEFDYN Generate C-code for forward dynamics
%
% cGen.genccodeinvdyn() generates a robot-specific C-code to compute the
% forward dynamics.
%
% Notes::
% - Is called by CodeGenerator.genfdyn if cGen has active flag genccode or
% genmex.
% - The .c and .h files are generated in the director... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genmexgravload.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genmexgravload.m | 3,809 | utf_8 | 95249b29ad89b9de4377217b7f4044ef | %CODEGENERATOR.GENMEXGRAVLOAD Generate C-MEX-function for gravitational load
%
% cGen.genmexgravload() generates a robot-specific MEX-function to compute
% gravitation load forces and torques.
%
% Notes::
% - Is called by CodeGenerator.gengravload if cGen has active flag genmex
% - The MEX file uses the .c and ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genccodefriction.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genccodefriction.m | 4,427 | utf_8 | 2eb6f6400cf827015abfcbe17a999fb1 | %CODEGENERATOR.GENCCODEFRICTION Generate C-code for the joint friction
%
% cGen.genccodefriction() generates a robot-specific C-function to compute
% vector of friction torques/forces.
%
% Notes::
% - Is called by CodeGenerator.genfriction if cGen has active flag genccode or
% genmex
% - The generated .c and ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | logmsg.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/logmsg.m | 2,036 | utf_8 | 2436af4090a0f6d9e9844e979169f194 | %CODEGENERATOR.LOGMSG Print CodeGenerator logs.
%
% count = CGen.logmsg( FORMAT, A, ...) is the number of characters written to the CGen.logfile.
% For the additional arguments see fprintf.
%
% Note::
% Matlab ships with a function for writing formatted strings into a text
% file or to the console (fprintf). T... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genmfuncoriolis.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genmfuncoriolis.m | 7,000 | utf_8 | b7c51342bc78385a5e666aa6d2c05fca | %CODEGENERATOR.GENMFUNCORIOLIS Generate M-functions for Coriolis matrix
%
% cGen.genmfuncoriolis() generates a robot-specific M-function to compute
% the Coriolis matrix.
%
% Notes::
% - Is called by CodeGenerator.gencoriolis if cGen has active flag genmfun
% - The Coriolis matrix is stored row by row to avoid m... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genmfuninertia.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genmfuninertia.m | 6,637 | utf_8 | a4f2e4e44a8a5fd374e40f7262c76406 | %CODEGENERATION.GENMFUNINERTIA Generate M-function for robot inertia matrix
%
% cGen.genmfuninertia() generates a robot-specific M-function to compute
% robot inertia matrix.
%
% Notes::
% - Is called by CodeGenerator.geninertia if cGen has active flag genmfun
% - The inertia matrix is stored row by row to avoid... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genfriction.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genfriction.m | 2,873 | utf_8 | 249a2f1d069ecc943808440dca0baf26 | %CODEGENERATOR.GENFRICTION Generate code for joint friction
%
% F = cGen.genfriction() is the symbolic vector (1xN) of joint friction
% forces.
%
% Notes::
% - Side effects of execution depends on the cGen flags:
% - saveresult: the symbolic expressions are saved to
% disk in the directory specified by cG... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genccodejacobian.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genccodejacobian.m | 7,361 | utf_8 | 1482bc27e20d3d854826816c8f285381 | %CODEGENERATOR.GENCCODEJACOBIAN Generate C-functions for robot jacobians
%
% cGen.genccodejacobian() generates a robot-specific C-function to compute
% the jacobians with respect to the robot base as well as the end effector.
%
% Notes::
% - Is called by CodeGenerator.genjacobian if cGen has active flag genccode ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genmfuninvdyn.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genmfuninvdyn.m | 5,357 | utf_8 | 33b9d3ed4432a00d0db5f7a3b96e2d0f | %CODEGENERATOR.GENMFUNINVDYN Generate M-functions for inverse dynamics
%
% cGen.genmfuninvdyn() generates a robot-specific M-function to compute
% inverse dynamics.
%
% Notes::
% - Is called by CodeGenerator.geninvdyn if cGen has active flag genmfun
% - The generated M-function is composed of previously generat... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genccodeinvdyn.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genccodeinvdyn.m | 8,084 | utf_8 | 63bb90993fadc9d1e626689792ee26fc | %CODEGENERATOR.GENCCODEINVDYN Generate C-code for inverse dynamics
%
% cGen.genccodeinvdyn() generates a robot-specific C-code to compute the
% inverse dynamics.
%
% Notes::
% - Is called by CodeGenerator.geninvdyn if cGen has active flag genccode or
% genmex.
% - The .c and .h files are generated in the dir... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genmfunfkine.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genmfunfkine.m | 6,532 | utf_8 | 415218e340664002d976cf2ffa206708 | %CODEGENERATOR.GENMFUNFKINE Generate M-function for forward kinematics
%
% cGen.genmfunfkine() generates a robot-specific M-function to compute
% forward kinematics.
%
% Notes::
% - Is called by CodeGenerator.genfkine if cGen has active flag genmfun
% - Access to generated function is provided via subclass of Se... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genccodefkine.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genccodefkine.m | 7,645 | utf_8 | 34ddf6179ce7793d3551bbb6875ffcf4 | %CODEGENERATOR.GENCCODEFKINE Generate C-code for the forward kinematics
%
% cGen.genccodefkine() generates a robot-specific C-function to compute
% forward kinematics.
%
% Notes::
% - Is called by CodeGenerator.genfkine if cGen has active flag genccode or
% genmex
% - The generated .c and .h files are wirtten... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genslblockinertia.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genslblockinertia.m | 7,916 | utf_8 | 01c978ae1ecfb90b1b3c263b7f9e7079 | %CODEGENERATOR.GENSLBLOCKINERTIA Generate Simulink block for inertia matrix
%
% cGen.genslbgenslblockinertia() generates a robot-specific Simulink block to compute
% robot inertia matrix.
%
% Notes::
% - Is called by CodeGenerator.geninertia if cGen has active flag genslblock
% - The Inertia matrix is stored row... |
github | ericguerrero/IntersectingFieldsStereo2015-master | geninertia.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/geninertia.m | 3,230 | utf_8 | 51f1f4564b3b247968023865edd6e009 | %CODEGENERATOR.GENINERTIA Generate code for inertia matrix
%
% I = cGen.geninertia() is the symbolic robot inertia matrix (NxN).
%
% Notes::
% - The inertia matrix is stored row by row to avoid memory issues.
% The generated code recombines these rows to output the full matrix.
% - Side effects of execution de... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genccodegravload.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genccodegravload.m | 4,591 | utf_8 | acf3c492e810b6f39a8316024060f23c | %CODEGENERATOR.GENCCODEGRAVLOAD Generate C-code for the vector of
%gravitational load torques/forces
%
% cGen.genccodegravload() generates a robot-specific C-function to compute
% vector of gravitational load torques/forces.
%
% Notes::
% - Is called by CodeGenerator.gengravload if cGen has active flag genccode ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genslblockjacobian.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genslblockjacobian.m | 3,835 | utf_8 | 0a67f70733caceba5c2b23d5468d632d | %CODEGENERATOR.GENSLBLOCKJACOBIAN Generate Simulink block for robot Jacobians
%
% cGen.genslblockjacobian() generates a robot-specific Simulink block to compute
% robot Jacobians (world and tool frame).
%
% Notes::
% - Is called by CodeGenerator.genjacobian if cGen has active flag genslblock
% - The Simulink blo... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genslblockfkine.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genslblockfkine.m | 3,825 | utf_8 | 3ae871d76150fc097d076ed4b5756314 | %CODEGENERATOR.GENSLBLOCKFKINE Generate Simulink block for forward kinematics
%
% cGen.genslblockfkine() generates a robot-specific Simulink block to compute
% forward kinematics.
%
% Notes::
% - Is called by CodeGenerator.genfkine if cGen has active flag genslblock.
% - The Simulink blocks are generated and sto... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genmfunfdyn.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genmfunfdyn.m | 7,802 | utf_8 | 9294c682375b50e7be5d15fec731151d | %CODEGENERATOR.GENMFUNFDYN Generate M-function for forward dynamics
%
% cGen.genmfunfdyn() generates a robot-specific M-function to compute
% the forward dynamics.
%
% Notes::
% - Is called by CodeGenerator.genfdyn if cGen has active flag genmfun
% - The generated M-function is composed of previously generated M... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genmexfkine.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/genmexfkine.m | 5,865 | utf_8 | 27e850cb87b4a25e4a85b6dbd1984b93 | %CODEGENERATOR.GENMEXFKINE Generate C-MEX-function for forward kinematics
%
% cGen.genmexfkine() generates a robot-specific MEX-function to compute
% forward kinematics.
%
% Notes::
% - Is called by CodeGenerator.genfkine if cGen has active flag genmex
% - The MEX file uses the .c and .h files generated in the d... |
github | ericguerrero/IntersectingFieldsStereo2015-master | gengaussjordanc.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/private/gengaussjordanc.m | 6,774 | utf_8 | 4cd04f73b123924772cc862ecb766d56 | %CODEGENERATOR.GENGAUSSJORDANC Generates a Gauss-Jordan C-implementation.
%
% cGen.gengaussjordanc generates a .h and a .c file in the directory
% specified by ccodepath.
%
% Notes::
% - Is called by genfdyn if cGen has active flag genmex or genccode.
%
% Authors::
% Joern Malzahn (joern.malzahn@tu-dortmund... |
github | ericguerrero/IntersectingFieldsStereo2015-master | replaceheader.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/private/replaceheader.m | 3,138 | utf_8 | d97bfc9ab9c0179cce2fb9501d843416 | %CODEGENERATOR.REPLACEHEADER Replace autogenerated function headers by Toolbox-headers.
%
% CGen.replaceheader(HSTRUCT,FILENAME)
% HSTRUCT is the struct defining the contents of the header.
% FILENAME is the relative or full path to the file that has an autogenerated
% header to be replaced.
%
% Notes::
% The M... |
github | ericguerrero/IntersectingFieldsStereo2015-master | ffindreplace.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/private/ffindreplace.m | 2,477 | utf_8 | a1601d071fd66ed97f1660b3e2c2360c | %CODEGENERATOR.FFINDREPLACE Find and replace all occurrences of string in a file.
%
% CGen.ffindreplace(fName, oText, nText, varargin)
% FNAME is the absolute or relative path to the file to replace the text in.
% OTEXT is the text passage to replace.
% NTEXT is the new text.
%
% Notes::
% The function ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | createmconstructor.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/private/createmconstructor.m | 2,503 | utf_8 | 5cfd4be539ea29857cbe7f50f31a41b7 | %CODEGENERATOR.CREATEMCONSTRUCTOR Creates the constructor of the specialized robot class collecting the generated m-function code.
%
% cGen.createmconstructor()
%
% Authors::
% Joern Malzahn, (joern.malzahn@tu-dortmund.de)
%
% See also CodeGenerator.genfkine, CodeGenerator.genmfunfkine.
% Copyright (C) 1... |
github | ericguerrero/IntersectingFieldsStereo2015-master | mexfunctionrowwise.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/private/mexfunctionrowwise.m | 5,495 | utf_8 | 93572d05950dd529cd66565fc95ce739 | %MEXFUNCTION Converts a symbolic expression into a MEX-function
%
% [] = cGen.mexfunction(SYMEXPR, ARGLIST) translates a symbolic expression
% into C-code and joins it with a MEX gateway routine. The resulting C-file
% is ready to be compiled using the matlab built-in mex command.
%
% The argumentlist ARGLIST may... |
github | ericguerrero/IntersectingFieldsStereo2015-master | gendotprodc.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/private/gendotprodc.m | 4,005 | utf_8 | a3d8b369a875e0d81802ac04de3617d6 | %CODEGENERATOR.GENDOTPRODC Generates a dot product C-implementation.
%
% cGen.gendotprodc generates a .h and a .c file in the directory
% specified by ccodepath.
%
% Notes::
% - Is called by geninvdyn if cGen has active flag genmex or genccode.
%
% Authors::
% Joern Malzahn (joern.malzahn@tu-dortmund.de)
... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genmexgatewaystring.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/private/genmexgatewaystring.m | 6,250 | utf_8 | 3867ec5d50475db795eb1075fd926a80 | %GENMEXGATEWAYSTRING Generates a mex gateway function
%
% [FUNSTR] = genmexgatewaystring(SYMEXPR, ARGLIST) returns a string
% representing a C-code implementation of a mex gateway function.
%
% The argumentlist ARGLIST may contain the following property-value pairs
% PROPERTY, VALUE
% - 'funname', 'name_string... |
github | ericguerrero/IntersectingFieldsStereo2015-master | getpibugfixstring.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/private/getpibugfixstring.m | 2,208 | utf_8 | 31ba4fc3a8c2f06af6c3cb2d844140af | %CODEGENERATOR.GETPIBUGFIXSTRING Returns a string to fix PI-Bug in auto genereated functions.
%
% bfixString = cGen.getPiBugfixString() Is the string with explanation comment
% and variable declaration as described below.
%
% Notes::
% In some versions the symbolic toolbox writes the constant $pi$ in
% capi... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genmatvecprodc.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/private/genmatvecprodc.m | 4,521 | utf_8 | 6d83466255b1dddae8de802f25a5e52e | %CODEGENERATOR.GENMATVECPRODC Generates a matrix-vector product C-implementation.
%
% cGen.gendotprodc generates a .h and a .c file in the directory
% specified by ccodepath.
%
% Notes::
% - Is called by geninvdyn and genfdyn if cGen has active flag genmex or genccode.
%
% Authors::
% Joern Malzahn (joern.m... |
github | ericguerrero/IntersectingFieldsStereo2015-master | mexfunction.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/private/mexfunction.m | 5,325 | utf_8 | c949fe9c525e5caa5983bb6b6af3efc1 | %MEXFUNCTION Converts a symbolic expression into a MEX-function
%
% [] = cGen.mexfunction(SYMEXPR, ARGLIST) translates a symbolic expression
% into C-code and joins it with a MEX gateway routine. The resulting C-file
% is ready to be compiled using the matlab built-in mex command.
%
% The argumentlist ARGLIST may... |
github | ericguerrero/IntersectingFieldsStereo2015-master | constructheaderstringc.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/private/constructheaderstringc.m | 8,788 | utf_8 | 548ed9f487884f775aee44949e490f1e | %CODEGENERATOR.CONSTRUCTHEADERSTRINGC Creates common toolbox header string.
%
% HFSTRING = CGen.constructheaderstringc(HSTRUCT) is the formatted header
% string.
% HSTRUCT is the header content struct
%
% Notes::
% The contents of the header are coded in a struct that is the input
% parameter and has the foll... |
github | ericguerrero/IntersectingFieldsStereo2015-master | finsertfront.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/private/finsertfront.m | 2,406 | utf_8 | 9b6cb8a19f152fb355999afdaa253882 | %CODEGENERATOR.FINSERTFRONT Insert a string at the beginning of a textfile.
%
% cGen.finsertfront(FNAME,NTEXT)
% FNAME is the full or relative path to the text file.
% NTEXT is the string containing the text to be inserted at the beginning
% of the file.
%
% Notes::
% MatLab ships with functions for reading, ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | constructheaderstring.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@CodeGenerator/private/constructheaderstring.m | 7,035 | utf_8 | 3d9e9ae8d5e39a036b9315489ef211bb | %CODEGENERATOR.CONSTRUCTHEADERSTRING Creates common toolbox header string.
%
% HFSTRING = CGen.constructheaderstring(HSTRUCT) is the formatted header
% string.
% HSTRUCT is the geader content struct
%
% Notes::
% The contents of the header are coded in a struct that is the input
% parameter and has the follow... |
github | ericguerrero/IntersectingFieldsStereo2015-master | SerialLink.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/SerialLink.m | 26,214 | utf_8 | a1625861b8404095acc3be00c0fb55e6 | %SerialLink Serial-link robot class
%
% A concrete class that represents a serial-link arm-type robot. The
% mechanism is described using Denavit-Hartenberg parameters, one set
% per joint.
%
% Methods::
%
% plot display graphical representation of robot
% plot3d display 3D graphical model of robot
%... |
github | ericguerrero/IntersectingFieldsStereo2015-master | issym.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/issym.m | 1,044 | utf_8 | 087cb836eaa4db22fcb03d4166b004af | %SerialLink.issym Check if SerialLink object is a symbolic model
%
% res = R.issym() is true if the SerialLink manipulator R has symbolic parameters
%
%
% Authors::
% Joern Malzahn, (joern.malzahn@tu-dortmund.de)
% Copyright (C) 1993-2015, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (R... |
github | ericguerrero/IntersectingFieldsStereo2015-master | ikunc.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/ikunc.m | 3,925 | utf_8 | b8bc961ae5dde93450dc268f8b365768 | %SerialLink.IKUNC Numerical inverse manipulator without joint limits
%
% Q = R.ikunc(T) are the joint coordinates (1xN) corresponding to the robot
% end-effector pose T (4x4) which is a homogenenous transform, and N is the
% number of robot joints.
%
% [Q,ERR] = robot.ikunc(T) as above but also returns ERR which is th... |
github | ericguerrero/IntersectingFieldsStereo2015-master | plot.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/plot.m | 23,980 | utf_8 | 397c373f0df46857e4a23378be859545 | %SerialLink.plot Graphical display and animation
%
% R.plot(Q, options) displays a graphical animation of a robot based on
% the kinematic model. A stick figure polyline joins the origins of
% the link coordinate frames. The robot is displayed at the joint angle Q (1xN), or
% if a matrix (MxN) it is animated as the ro... |
github | ericguerrero/IntersectingFieldsStereo2015-master | ikine_sym.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/ikine_sym.m | 13,494 | utf_8 | 405fc18f950ad4026c5d864a999df035 | %IKINE_SYM Symbolic inverse kinematics
%
% Q = R.IKINE_SYM(K, OPTIONS) is a cell array (Cx1) of inverse kinematic
% solutions of the SerialLink object ROBOT. The cells of Q represent the
% different possible configurations. Each cell of Q is a vector (Nx1), and
% element J is the symbolic expressions for the J'th jo... |
github | ericguerrero/IntersectingFieldsStereo2015-master | plot3d.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/plot3d.m | 17,044 | utf_8 | 3b416dc0f358090c9bd3eebd3dbb0aeb | %SerialLink.plot3d Graphical display and animation of solid model robot
%
% R.plot3d(Q, options) displays and animates a solid model of the robot.
% The robot is displayed at the joint angle Q (1xN), or
% if a matrix (MxN) it is animated as the robot moves along the M-point trajectory.
%
% Options::
%
% 'color',C ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | rne_dh.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/rne_dh.m | 6,386 | utf_8 | fb140a381c966855a59e69cb66c507e4 |
%SERIALLINK.RNE_DH Compute inverse dynamics via recursive Newton-Euler formulation
%
% Recursive Newton-Euler for standard Denavit-Hartenberg notation. Is invoked by
% R.RNE().
%
% See also SERIALLINK.RNE.
%
% verified against MAPLE code, which is verified by examples
%
% Copyright (C) 1993-2015, by Peter I. Cor... |
github | ericguerrero/IntersectingFieldsStereo2015-master | ikine6s.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/ikine6s.m | 27,299 | utf_8 | bbb602cd69a139ea3f9ed81aff02596b | %SerialLink.ikine6s Analytical inverse kinematics
%
% Q = R.ikine6s(T) is the joint coordinates (1xN) corresponding to the robot
% end-effector pose T represented by an SE(3) homogenenous transform (4x4). This
% is a analytic solution for a 6-axis robot with a spherical wrist (the most
% common form for industrial rob... |
github | ericguerrero/IntersectingFieldsStereo2015-master | jacob0.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/jacob0.m | 2,685 | utf_8 | b848aa8549d475b675fc85a48655cefa | %SerialLink.JACOB0 Jacobian in world coordinates
%
% J0 = R.jacob0(Q, OPTIONS) is the Jacobian matrix (6xN) for the robot in
% pose Q (1xN), and N is the number of robot joints. The manipulator
% Jacobian matrix maps joint velocity to end-effector spatial velocity V =
% J0*QD expressed in the world-coordinate frame.
%... |
github | ericguerrero/IntersectingFieldsStereo2015-master | jacobn.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/jacobn.m | 2,615 | utf_8 | 46c1246d7798d96ffc9849efe5fd1435 | %SerialLink.JACOBN Jacobian in end-effector frame
%
% JN = R.jacobn(Q, options) is the Jacobian matrix (6xN) for the robot in
% pose Q, and N is the number of robot joints. The manipulator Jacobian
% matrix maps joint velocity to end-effector spatial velocity V = JN*QD in
% the end-effector frame.
%
% Options::
% 'tran... |
github | ericguerrero/IntersectingFieldsStereo2015-master | qmincon.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/qmincon.m | 3,063 | utf_8 | 8f8328d20c2a2a5db128dabc411b8019 | %SerialLink.QMINCON Use redundancy to avoid joint limits
%
% QS = R.qmincon(Q) exploits null space motion and returns a set of joint
% angles QS (1xN) that result in the same end-effector pose but are away
% from the joint coordinate limits. N is the number of robot joints.
%
% [Q,ERR] = R.qmincon(Q) as above but also... |
github | ericguerrero/IntersectingFieldsStereo2015-master | jacob_dot.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/jacob_dot.m | 2,656 | utf_8 | 1f8c981ebaa338c1a8e964d75a8699e8 | %SerialLink.jacob_dot Derivative of Jacobian
%
% JDQ = R.jacob_dot(Q, QD) is the product (6x1) of the derivative of the
% Jacobian (in the world frame) and the joint rates.
%
% Notes::
% - Useful for operational space control XDD = J(Q)QDD + JDOT(Q)QD
% - Written as per the reference and not very efficient.
%
% Referen... |
github | ericguerrero/IntersectingFieldsStereo2015-master | genforces.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/genforces.m | 1,007 | utf_8 | 8dc185ef4f0b1cd90c5086c86a249ad0 | %SerialLink.genforces Vector of symbolic generalized forces
%
% Q = R.genforces() is a vector (1xN) of symbols [Q1 Q2 ... QN].
%
% 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 ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | gravload.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/gravload.m | 1,653 | utf_8 | b521806c802b29f688d8695a4e78abe5 | %SerialLink.gravload Gravity load on joints
%
% TAUG = R.gravload(Q) is the joint gravity loading (1xN) for the robot R
% in the joint configuration Q (1xN), where N is the number of robot
% joints. Gravitational acceleration is a property of the robot object.
%
% If Q is a matrix (MxN) each row is interpreted as a jo... |
github | ericguerrero/IntersectingFieldsStereo2015-master | ikinem.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/ikinem.m | 5,809 | utf_8 | e6804a5681fb7e468fe0a0a432092ace | %SerialLink.IKINEM Numerical inverse kinematics by minimization
%
% Q = R.ikinem(T) is the joint coordinates corresponding to the robot
% end-effector pose T which is a homogenenous transform.
%
% Q = R.ikinem(T, Q0, OPTIONS) specifies the initial estimate of the joint
% coordinates.
%
% In all cases if T is 4x4xM it i... |
github | ericguerrero/IntersectingFieldsStereo2015-master | friction.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/friction.m | 1,315 | utf_8 | 00db1a39109821fb23bc0e12fd0c5dd2 | %SerialLink.friction Friction force
%
% TAU = R.friction(QD) is the vector of joint friction forces/torques for the
% robot moving with joint velocities QD.
%
% The friction model includes:
% - Viscous friction which is a linear function of velocity.
% - Coulomb friction which is proportional to sign(QD).
%
% See al... |
github | ericguerrero/IntersectingFieldsStereo2015-master | collisions.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/collisions.m | 4,898 | utf_8 | 97f3bd97adac15c5bb3b3165ce5e4e28 | %SerialLink.COLLISIONS Perform collision checking
%
% C = R.collisions(Q, MODEL) is true if the SerialLink object R at
% pose Q (1xN) intersects the solid model MODEL which belongs to the
% class CollisionModel. The model comprises a number of geometric
% primitives and associate pose.
%
% C = R.collisions(Q, MODEL, D... |
github | ericguerrero/IntersectingFieldsStereo2015-master | ikine3.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/ikine3.m | 4,040 | utf_8 | ace7df7429f35616b852f70c8c8bb324 | %SerialLink.ikine3 Inverse kinematics for 3-axis robot with no wrist
%
% Q = R.ikine3(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 3-axis robot (such as the first three joints
% of a robot like the Puma 560).... |
github | ericguerrero/IntersectingFieldsStereo2015-master | ikine.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/ikine.m | 10,410 | utf_8 | 10e6815d9884120812c57506030725b5 | %SerialLink.ikine Numerical inverse kinematics
%
% Q = R.ikine(T) are the joint coordinates (1xN) corresponding to the robot
% end-effector pose T (4x4) which is a homogenenous transform.
%
% Q = R.ikine(T, Q0, OPTIONS) specifies the initial estimate of the joint
% coordinates.
%
% This method can be used for robots ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | nofriction.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/nofriction.m | 1,578 | utf_8 | 20c342677630be8b15263824bfa886a7 | %SerialLink.nofriction Remove friction
%
% RNF = R.nofriction() is a robot object with the same parameters as R but
% with non-linear (Coulomb) friction coefficients set to zero.
%
% RNF = R.nofriction('all') as above but viscous and Coulomb friction coefficients set to zero.
%
% RNF = R.nofriction('viscous') as ab... |
github | ericguerrero/IntersectingFieldsStereo2015-master | pay.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/pay.m | 2,529 | utf_8 | ce7fd4af5c1fc8295bf19670b28e6a17 | %SerialLink.PAY Joint forces due to payload
%
% TAU = R.PAY(W, J) returns the generalised joint force/torques due to a
% payload wrench W (1x6) and where the manipulator Jacobian is J (6xN), and
% N is the number of robot joints.
%
% TAU = R.PAY(Q, W, F) as above but the Jacobian is calculated at pose Q
% (1xN) in the ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | coriolis.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/coriolis.m | 4,003 | utf_8 | 5187d74c5fe6c5a04b38d6733622c6a9 | %SerialLink.coriolis Coriolis matrix
%
% C = R.coriolis(Q, QD) is the Coriolis/centripetal matrix (NxN) for
% the robot in configuration Q and velocity QD, where N is the number of
% joints. The product C*QD is the vector of joint force/torque due to velocity
% coupling. The diagonal elements are due to centripetal e... |
github | ericguerrero/IntersectingFieldsStereo2015-master | ikcon.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/ikcon.m | 4,115 | utf_8 | 88e6edc11a6cda1217b5993b7b27b415 | %SerialLink.IKCON Numerical inverse kinematics with joint limits
%
% Q = R.ikcon(T) are the joint coordinates (1xN) corresponding to the robot
% end-effector pose T (4x4) which is a homogenenous transform.
%
% [Q,ERR] = robot.ikcon(T) as above but also returns ERR which is the
% scalar final value of the objective fun... |
github | ericguerrero/IntersectingFieldsStereo2015-master | accel.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/accel.m | 3,714 | utf_8 | d98f71ce82021884d9cafa842ec632f9 | %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 R in
% state Q and QD, and N is the number of robot joints.
%
% If Q, QD, TORQUE are matrices (KxN) then QDD is a matri... |
github | ericguerrero/IntersectingFieldsStereo2015-master | itorque.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/itorque.m | 1,442 | utf_8 | 5deec318e3b649e0635c09dea15d180f | %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 | ericguerrero/IntersectingFieldsStereo2015-master | rne_mdh.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/rne_mdh.m | 4,470 | utf_8 | bfa9bb4fbdd965390a454c89c05f2582 |
%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) 1993-2015, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB)... |
github | ericguerrero/IntersectingFieldsStereo2015-master | paycap.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/paycap.m | 2,551 | utf_8 | 6b5e52b5c25de17b838e29d661131b61 | %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 | ericguerrero/IntersectingFieldsStereo2015-master | gencoords.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/gencoords.m | 1,482 | utf_8 | 8d41c543598d03c844c399eb7ee818c4 | %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 | ericguerrero/IntersectingFieldsStereo2015-master | animate.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/animate.m | 6,282 | utf_8 | 623cccb4c950cb93cf97e39c31a42317 | %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 | ericguerrero/IntersectingFieldsStereo2015-master | perturb.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/perturb.m | 1,600 | utf_8 | 604e9328d1700604de5e9b53be012320 | %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 | ericguerrero/IntersectingFieldsStereo2015-master | cinertia.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/cinertia.m | 1,322 | utf_8 | 43918b0389cda99263a31b1e4d8f8316 | %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 | ericguerrero/IntersectingFieldsStereo2015-master | fkine.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/fkine.m | 2,804 | utf_8 | c5ab6047701bf6b6ef346360d3feea23 | %SerialLink.fkine Forward kinematics
%
% T = R.fkine(Q, OPTIONS) is the pose of the robot end-effector as an SE(3)
% homogeneous transformation (4x4) 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 trajector... |
github | ericguerrero/IntersectingFieldsStereo2015-master | rne.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/rne.m | 3,259 | utf_8 | dcd97a95ac08852c09cbbd37efe5d4a8 | %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 (1xN), velocity QD (1xN) and
% acceleration QDD (1xN), where N is the number of robot joints.
%
% TAU = R.rne(Q, QD, QDD, GRAV) as above but overriding the gravitational ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | gravjac.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/gravjac.m | 4,443 | utf_8 | dca8952f0a782fcf5c8d7373020b15e4 | %SerialLink.GRAVJAC Fast gravity load and Jacobian
%
% [TAU,JAC0] = R.gravjac(Q) is the generalised joint force/torques due to
% gravity (1xN) and the manipulator Jacobian in the base frame (6xN) for
% robot pose Q (1xN), where N is the number of robot joints.
%
% [TAU,JAC0] = R.gravjac(Q,GRAV) as above but grav... |
github | ericguerrero/IntersectingFieldsStereo2015-master | teach.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/teach.m | 15,267 | utf_8 | 7d44ffa8fe7c5859b7ad50238d812678 | %SerialLink.teach Graphical teach pendant
%
% R.teach(Q, OPTIONS) allows the user to "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 instances of the graphical robot
% are driven. The robots are set to the initial j... |
github | ericguerrero/IntersectingFieldsStereo2015-master | maniplty.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/maniplty.m | 4,930 | utf_8 | 803dc963254f1f513cb7a7495c658455 | %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 | ericguerrero/IntersectingFieldsStereo2015-master | inertia.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/inertia.m | 1,996 | utf_8 | c04dfac2591742a7e2e51225465c1cf5 | %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 | ericguerrero/IntersectingFieldsStereo2015-master | fdyn.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/fdyn.m | 3,939 | utf_8 | 2c05ac03bb519498eab0f7bcc7edc39a | %SerialLink.fdyn Integrate forward dynamics
%
% [T,Q,QD] = R.fdyn(T, TORQFUN) integrates the dynamics of the robot over
% the time interval 0 to T and returns vectors of time T, joint position Q
% and joint velocity QD. The initial joint position and velocity are zero.
% The torque applied to the joints is computed ... |
github | ericguerrero/IntersectingFieldsStereo2015-master | trchain.m | .m | IntersectingFieldsStereo2015-master/rvctools/robot/@SerialLink/trchain.m | 2,790 | utf_8 | 02989b113c1b841d80604168f6594202 | %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... |
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