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Wish List
Peter Corke edited this page Sep 19, 2016
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- redo ne.c using C++ and Eigen
- URDF read/write
- polished V-REP interface
- update Simulink models, quadrotor latest from Paul Pounds, SerialLink.plot3d
- numeric ikine, add damped LS, fix up step size for jacob transpose method, add null space motion for joint limit avoidance and manipulability maximisation
- CodeGenerator: regresser derivation for dynamics identification, generation of C++ classes and ROS nodes
- bundle adjustment
- loop closure and path graph relaxation
- Vehicle class becomes abstract, subclasses for Bicycle, Unicycle, DiffSteer and CenterSteer
- do images become objects instead of being matrices, lots of advantages to this
- MVTB layered on OpenCV, gets the power of GPU to MATLAB users
- connecting toolboxes to the world, ROS integration etc.
- new classes to encapsulate homogeneous transformations: SO2, SE2, SO3, SE3, lots of changes flow from this...