1
INTRODUCTION
4
The functions
rotx
,
roty
and
rotz
all used to return a 4
× 4 transform matrix.
They now return a 3
× 3 rotation matrix. Use the functions
trotx
,
troty
and
trotz
instead if you want a 4
× 4 transform matrix.
· Some functions have been added:
r2t
,
t2r
,
isvec
,
isrot
.
· HTML format documentation is provided in the directory
htmldoc
which was gen-
erated using the package
m2html
. This help is accessible through M
ATLAB's inbuilt
help browser, but you can also point your browser at
htmldoc/index.html
.
All code is now under SVN control which should eliminate many of the versioning problems
I had previously due to developing the code across multiple computers. A first cut at a test
suite has been developed to aid in pre-release testing.
1.2
Other toolboxes
Also of interest might be:
· A python implementation of the toolbox. All core functionality is present including
kinematics, dynamics, Jacobians, quaternions etc. It is based on the python numpy
class. The main current limitation is the lack of good 3D graphics support but people
are working on this. Nevertheless this version of the toolbox is very usable and of
course you don't need a M
ATLAB licence to use it.
·
Machine Vision toolbox (MVTB) for MATLAB. This was described in an article
@article{Corke05d,
Author = {P.I. Corke},
Journal = {IEEE Robotics and Automation Magazine},
Month = nov,
Number = {4},
Pages = {16-25},
Title = {Machine Vision Toolbox},
Volume = {12},
Year = {2005}}
It provides a very wide range of useful computer vision functions beyond the Mathwork's
Image Processing Toolbox. However the maturity of MVTB is less than that of the robotics
toolbox.
1.3
Contact
The Toolbox home page is at
http://www.petercorke.com/robot