Minor doco updates and copyright notice additions/updates

Animate.m

@@ -10,6 +10,29 @@
 %          for i=1:100
 %              plot(...);
 %              anim.add();
+%          end
+%
+% To convert the image files to a movie you could use a tool like ffmpeg
+%           % ffmpeg -r 10 -i movie/*.png out.mp4
+
+% Copyright (C) 1993-2014, by Peter I. Corke
+%
+% This file is part of The Robotics Toolbox for MATLAB (RTB).
+% 
+% RTB is free software: you can redistribute it and/or modify
+% it under the terms of the GNU Lesser General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+% 
+% RTB is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+% GNU Lesser General Public License for more details.
+% 
+% You should have received a copy of the GNU Leser General Public License
+% along with RTB.  If not, see <http://www.gnu.org/licenses/>.
+%
+% http://www.petercorke.com
 
 
 classdef Animate < handle
@@ -20,16 +43,15 @@
     end
 
     methods
-        %ANIMATE.ANIMATE Create an animation class
-        %
-        % A = ANIMATE(NAME, OPTIONS) initializes an animation, and creates a folder
-        % called NAME to hold the individual frames.
-        %
-        % Options::
-        % 'resolution',R    Set the resolution of the saved image in pixels per inch
-        %
-
         function a = Animate(name, res)
+            %ANIMATE.ANIMATE Create an animation class
+            %
+            % A = ANIMATE(NAME, OPTIONS) initializes an animation, and creates a folder
+            % called NAME to hold the individual frames.
+            %
+            % Options::
+            % 'resolution',R    Set the resolution of the saved image in pixels per inch
+
             a.frame = 0;
             a.dir = name;
             mkdir(name);
@@ -42,15 +64,16 @@
 
         end
 
-        %ANIMATE.ADD Adds current plot to the animation
-        %
-        % A.ADD() prints the current figure in PNG format to the animation
-        % folder with a unique sequential filename.
-        %
-        % A.ADD(FIG) as above but prints figure FIG.
-        %
-        % See also: print
         function add(a, fh)
+            %ANIMATE.ADD Adds current plot to the animation
+            %
+            % A.ADD() adds the current figure in PNG format to the animation
+            % folder with a unique sequential filename.
+            %
+            % A.ADD(FIG) as above but captures the figure FIG.
+            %
+            % See also print.
+
             if nargin < 2
                 fh = gcf;
             end
@@ -66,4 +89,4 @@ function add(a, fh)
         function close(a)
         end
     end
-end
+end

HiddenFigure.m

@@ -1,3 +1,22 @@
+
+% Copyright (C) 1993-2014, by Peter I. Corke
+%
+% This file is part of The Robotics Toolbox for MATLAB (RTB).
+% 
+% RTB is free software: you can redistribute it and/or modify
+% it under the terms of the GNU Lesser General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+% 
+% RTB is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+% GNU Lesser General Public License for more details.
+% 
+% You should have received a copy of the GNU Leser General Public License
+% along with RTB.  If not, see <http://www.gnu.org/licenses/>.
+%
+% http://www.petercorke.com
 classdef HiddenFigure
 
     properties

PGraph.m

@@ -69,6 +69,25 @@
 % - Nodes and edges cannot be deleted.
 % - Support for edge direction is rudimentary.
 
+% Copyright (C) 1993-2014, by Peter I. Corke
+%
+% This file is part of The Robotics Toolbox for MATLAB (RTB).
+% 
+% RTB is free software: you can redistribute it and/or modify
+% it under the terms of the GNU Lesser General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+% 
+% RTB is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+% GNU Lesser General Public License for more details.
+% 
+% You should have received a copy of the GNU Leser General Public License
+% along with RTB.  If not, see <http://www.gnu.org/licenses/>.
+%
+% http://www.petercorke.com
+
 % Peter Corke 8/2009.
 
 % TODO: 

Plucker.m

@@ -15,6 +15,25 @@
 % - This is reference class object
 % - Link objects can be used in vectors and arrays
 
+% Copyright (C) 1993-2014, by Peter I. Corke
+%
+% This file is part of The Robotics Toolbox for MATLAB (RTB).
+% 
+% RTB is free software: you can redistribute it and/or modify
+% it under the terms of the GNU Lesser General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+% 
+% RTB is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+% GNU Lesser General Public License for more details.
+% 
+% You should have received a copy of the GNU Leser General Public License
+% along with RTB.  If not, see <http://www.gnu.org/licenses/>.
+%
+% http://www.petercorke.com
+
 classdef Plucker < handle
 
     properties

Polygon.m

@@ -35,6 +35,25 @@
 % and require a licence.  However the author does not respond to email regarding
 % the licence, so use with care, and modify with acknowledgement.
 
+% Copyright (C) 1993-2014, by Peter I. Corke
+%
+% This file is part of The Robotics Toolbox for MATLAB (RTB).
+% 
+% RTB is free software: you can redistribute it and/or modify
+% it under the terms of the GNU Lesser General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+% 
+% RTB is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+% GNU Lesser General Public License for more details.
+% 
+% You should have received a copy of the GNU Leser General Public License
+% along with RTB.  If not, see <http://www.gnu.org/licenses/>.
+%
+% http://www.petercorke.com
+
 % TODO
 %  split the code in two.  Simple polygon functions in Polgon class, subclass with
 %  Pankratov code to Polygon2.

about.m

@@ -6,6 +6,25 @@
 % ABOUT X  as above but this is the command rather than functional form
 %
 % See also WHOS.
+
+% Copyright (C) 1993-2014, by Peter I. Corke
+%
+% This file is part of The Robotics Toolbox for MATLAB (RTB).
+% 
+% RTB is free software: you can redistribute it and/or modify
+% it under the terms of the GNU Lesser General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+% 
+% RTB is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+% GNU Lesser General Public License for more details.
+% 
+% You should have received a copy of the GNU Leser General Public License
+% along with RTB.  If not, see <http://www.gnu.org/licenses/>.
+%
+% http://www.petercorke.com
 function about(var)
 
     if isstr(var)

angdiff.m

@@ -9,6 +9,25 @@
 %
 % Return the equivalent angle in the interval [-pi pi).
 
+% Copyright (C) 1993-2014, by Peter I. Corke
+%
+% This file is part of The Robotics Toolbox for MATLAB (RTB).
+% 
+% RTB is free software: you can redistribute it and/or modify
+% it under the terms of the GNU Lesser General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+% 
+% RTB is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+% GNU Lesser General Public License for more details.
+% 
+% You should have received a copy of the GNU Leser General Public License
+% along with RTB.  If not, see <http://www.gnu.org/licenses/>.
+%
+% http://www.petercorke.com
+
 function d = angdiff(th1, th2)
 
     if nargin < 2

bresenham.m

@@ -10,22 +10,25 @@
 
 
 
-% Copyright (C) 1993-2011, by Peter I. Corke
+
+% Copyright (C) 1993-2014, by Peter I. Corke
 %
-% This file is part of The Machine Vision Toolbox for Matlab (MVTB).
+% This file is part of The Robotics Toolbox for MATLAB (RTB).
 % 
-% MVTB is free software: you can redistribute it and/or modify
+% RTB is free software: you can redistribute it and/or modify
 % it under the terms of the GNU Lesser General Public License as published by
 % the Free Software Foundation, either version 3 of the License, or
 % (at your option) any later version.
 % 
-% MVTB is distributed in the hope that it will be useful,
+% RTB is distributed in the hope that it will be useful,
 % but WITHOUT ANY WARRANTY; without even the implied warranty of
 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 % GNU Lesser General Public License for more details.
 % 
 % You should have received a copy of the GNU Leser General Public License
-% along with MVTB.  If not, see <http://www.gnu.org/licenses/>.
+% along with RTB.  If not, see <http://www.gnu.org/licenses/>.
+%
+% http://www.petercorke.com
 
 function p = bresenham(x1, y1, x2, y2)
 

ccodefunctionstring.m

@@ -4,47 +4,37 @@
 % representing a C-code implementation of a symbolic expression SYMEXPR.
 % The C-code implementation has a signature of the form:
 %
-% void funname(double[][n_o] out, const double in1, const double* in2, const double[][n_i] in3);
+%         void funname(double[][n_o] out, const double in1, 
+%           const double* in2, const double[][n_i] in3);
 %
 % depending on the number of inputs to the function as well as the
 % dimensionality of the inputs (n_i) and the output (n_o).
 % The whole C-code implementation is returned in FUNSTR, while HDRSTR
 % contains just the signature ending with a semi-colon (for the use in 
 % header files).
 %
-% The argumentlist ARGLIST may contain the following property-value pairs
-%   PROPERTY, VALUE
-% - 'funname', 'name_string'
-%   'name_string' is the actual identifier of the obtained C-function. If
-%   this optional argument is omitted, the variable name of the first input
-%   argument is used, if possible.
-%
-% - 'output', 'output_name'
-%   Defines the identifier of the output variable in the C-function.
-%
-% - 'vars', {symVar1, symVar2,...}
-%    The inputs to the C-code function must be defined as a cell array. The
-%    elements of this cell array contain the symbolic variables required to
-%    compute the output. The elements may be scalars, vectors or matrices
-%    symbolic variables. The C-function prototype will be composed accoringly
-%    as exemplified above.
-%
-% - 'flag', true or false (default)
-%   Specifies if only the function signature shall be generated:
-%    false: generate complete function string including implementation
-%    body.
-%    true: generate function signature only.
+% Options::
+% 'funname',name    Specify the name of the generated C-function. If
+%                   this optional argument is omitted, the variable name 
+%                   of the first input argument is used, if possible.
+% 'output',outVar   Defines the identifier of the output variable in the C-function.
+% 'vars',varCells   The inputs to the C-code function must be defined as a cell array. The
+%                   elements of this cell array contain the symbolic variables required to
+%                   compute the output. The elements may be scalars, vectors or matrices
+%                   symbolic variables. The C-function prototype will be composed accoringly
+%                   as exemplified above.
+% 'flag',sig        Specifies if function signature only is generated, default (false).
 %
 % Example::
-% % Create symbolic variables
-% syms q1 q2 q3
+%          % Create symbolic variables
+%          syms q1 q2 q3
 %
-% Q = [q1 q2 q3];
-% % Create symbolic expression
-% myrot = rotz(q3)*roty(q2)*rotx(q1)
+%          Q = [q1 q2 q3];
+%          % Create symbolic expression
+%          myrot = rotz(q3)*roty(q2)*rotx(q1)
 %
-% % Generate C-function string
-% [funstr, hdrstr] = ccodefunctionstring(myrot,'output','foo','vars',{Q},'funname','rotate_xyz')
+%          % Generate C-function string
+%          [funstr, hdrstr] = ccodefunctionstring(myrot,'output','foo','vars',{Q},'funname','rotate_xyz')
 %
 % Notes::
 % - The function wraps around the built-in Matlab function 'ccode'. It does
@@ -242,4 +232,4 @@
 funstr = sprintf('%s\n%s',...
     funstr,sprintf('%s', '}') );
 funstr = sprintf('%s\n%s',...
-    funstr,sprintf('%s', ' ') ); % empty line
+    funstr,sprintf('%s', ' ') ); % empty line

circle.m

@@ -11,6 +11,25 @@
 %
 % Options::
 %  'n',N   Specify the number of points (default 50)
+
+% Copyright (C) 1993-2014, by Peter I. Corke
+%
+% This file is part of The Robotics Toolbox for MATLAB (RTB).
+% 
+% RTB is free software: you can redistribute it and/or modify
+% it under the terms of the GNU Lesser General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+% 
+% RTB is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+% GNU Lesser General Public License for more details.
+% 
+% You should have received a copy of the GNU Leser General Public License
+% along with RTB.  If not, see <http://www.gnu.org/licenses/>.
+%
+% http://www.petercorke.com
 function out = circle(centre, rad, varargin)
 
 	opt.n = 50;

colnorm.m

@@ -2,6 +2,25 @@
 %
 % CN = COLNORM(A) is an Mx1 vector of the normals of each column of the
 % matrix A which is NxM.
+
+% Copyright (C) 1993-2014, by Peter I. Corke
+%
+% This file is part of The Robotics Toolbox for MATLAB (RTB).
+% 
+% RTB is free software: you can redistribute it and/or modify
+% it under the terms of the GNU Lesser General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+% 
+% RTB is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+% GNU Lesser General Public License for more details.
+% 
+% You should have received a copy of the GNU Leser General Public License
+% along with RTB.  If not, see <http://www.gnu.org/licenses/>.
+%
+% http://www.petercorke.com
 function n = colnorm(a)
 
 	n = sqrt(sum(a.^2));