This modest collection of files implements 3D kinematics calculations of the form included in works such as Introduction to Robotics by John J. Craig.
A far more comprehensive package can be found in Peter Corke's "Robotics Toolbox for Matlab". This work is intended to complement such work, not replace; in the present code, interfaces are provided for didactic purposes / syntactic sugar rather than efficiency. The scope of this work is also far more limited to basic geometry / kinematics.
eulang2rotmat.m-- calculates the 3x3 rotation matrix from an input set of Euler angles (i.e., non-fixed reference frames) in specified orderrotmat2eulang.m-- calculates the Euler angles in specified order from a rotation matrixplanevec2axes.m-- calculates coordinate system unit vectors (or rotation matrix, etc.) from two vectors that form a planeplot_frame.m-- plot a 3D coordinate system
Documentation to be improved!
Copyright (c) 2017 Will Robertson, wspr 81 at gmail dot com
Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
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