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Toolbox History
Peter Corke edited this page Jan 12, 2020
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The toolboxes are based on MATLAB code developed by Peter Corke for his PhD research over the period 1990 to 1994.
- Refactored all spatial maths functionality into new Spatial Math Toolbox (April 2019)
- Introduced classes to represent positions, orientations and poses, eg. SO2, SE2, SO3, SE3
- Introduced support for matrix exponentials and Twists
- Introduced separate UnitQuaternion class
- Breaking changes for mobile vehicle classes and maps
Significant expansion to support the Robotics, Vision & Control book. Major additions include:
- changes of class names for arm-type robots
- mobile robot control, planning and localization
- quadrotor control
- improved documentation
This is the first update to the toolbox since 2002. The main features of release 8 are:
- integration with Matlab desktop, help and demo systems
- variants of many functions that return a rotation rather than homog. transform matrix, for instance rotx() and trotx() return a 3x3 and 4x4 matrix respectively.
- HTML format function help documentation (generated using m2html) integrated with help browswer
- new robot models: Motoman, ABB, Fanuc
- rpy2r and eul2r accept trajectories
- fix errors in Simulink demos (due to code atrophy)
- tested with Matlab 2008b
- some functions have been retired
- adopt the new MATLAB classdef object syntax
MEX files, Simulink models and modified Denavit-Hartenberg support. This was released to support the third edition of John Craig's textbook where the exercises made use of RTB.
First release with objects. Before that everything was a matrix.
Corresponded to the article published in the IEEE Robotics & Automation magazine.
Significant expansion to support the Robotics, Vision & Control book. Major additions include:
- camera classes
- feature classes
- SIFT, SURF, graph-based segmentation, tracking, bag of words etc.