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Welcome to the online hub for the book:
Report an issue with the book or its supporting code here. Known errata for the book can be viewed here. |
This repo contains MATLAB code resources that support the book:
- LiveScripts, one per chapter, that provide all the code examples used in a chapter
- the RVC3 toolbox which extends the MathWorks Toolboxes and is required to run the chapter examples.
- the code that creates all the MATLAB-generated figures in the book
There are two ways to do this.
This is the zero-install option, and requires that you have a MATLAB Online licence. MATLAB Online can work on a tablet, but not a phone.
Use the QR code at the start of a chapter that looks like this:
and then do one of the following:
- click the hotlink
▶sn.pub/KI1xtA
in an e-book, - point your tablet camera at the QR code and go to the URL, or
- type the short URL
sn.pub/KI1xtA
into your browser.
This will clone the repository into your MATLAB Drive and open the chapter LiveScript in a browser tab.
You need to have MATLAB installed and the required Toolboxes. Install the extra resources
git clone git@github.com:petercorke/RVC3-MATLAB.git
or
git clone https://github.com/petercorke/RVC3-MATLAB.git
Once installed you need to open the RVC3
project which will add the RVC3 Toolbox to
your path. Simply double-click the rvc3setup.prj
file in the top-level folder.
Then open the appropriate file from the folder book/code
where Chapter N is in a file
named chapterN.mlx
. You can open the file by:
- double-clicking in the MATLAB file browser, or
- from the MATLAB consolde by
>> chapterN
- programatically by
open("chapterN")
To run the examples in this book you need to have a MATLAB® licence, as well as a number of licenced MathWorks software products.
For Parts I, II, III:
- Robotics System Toolbox™
- Optimization Toolbox™
- Simulink®
- Symbolic Math Toolbox™
- UAV Toolbox
- Navigation Toolbox™
For Parts IV and Chap. 15
- Computer Vision Toolbox™
- Image Processing Toolbox™
- Signal Processing Toolbox™
- Deep Learning Toolbox™
- Statistics and Machine Learning Toolbox™
For Chap. 16 only:
- ROS Toolbox
- Model Predictive Control Toolbox™
- Automated Driving Toolbox™
Those shown in bold are sufficient to run a large subset of the code examples.
This package provides additional interactive tools including:
tripleangledemo
, experiment with various triple-angle sequences.
These are included in the RVC3 Toolbox as files named sl_XXXX.slx
which can be opened
in Simulink by:
- double-clicking in the MATLAB file browser, or
- from the MATLAB consolde by
>> sl_XXXX
- programatically by
open("sl_XXXX")
This GitHub repo provides additional resources for readers including:
- The code to produce every MATLAB figure in the book, see the
book/figures
folder - All example scripts, see the
toolbox/examples
folder. - To run the visual odometry example in Sect. 14.8.3 you need to download two image sequence, each over 100MB:
>> fetchExampleData
This book requires that you have at least MATLAB R2023a in order to access all the required MATLAB language and toolbox features. The code examples rely on recent MATLAB language extensions:
- strings which are delimited by double quotation marks (introduced in 2016b)
name=value
syntax for passing arguments to functions (introduced in 2021a), for example,plot(x,y,LineWidth=2)
instead of the old-styleplot(x,y,"LineWidth",2)
.