coordinate transformations and trajectories -凯发k8网页登录

quaternions, rotation matrices, transformations, trajectory generation

robotics system toolbox™ provides functions for transforming coordinates and units into the format required for your applications. to learn more about the different coordinate systems, see . you can also generate trajectories using polynomial equations, b-splines, rotation matrices, homogeneous transformations, or trapezoidal velocity profiles.

functions

axis-angles

	convert axis-angle rotation to quaternion
	convert axis-angle rotation to rotation matrix
	convert axis-angle rotation to homogeneous transformation

euler angles

	convert euler angles to quaternion
	convert euler angles to rotation matrix
	convert euler angles to homogeneous transformation

quaternions

	convert quaternion to axis-angle rotation
	convert quaternion to euler angles
	convert quaternion to rotation matrix
	convert quaternion to homogeneous transformation
	create a quaternion array

rotation matrices

	so(2) rotation
	so(3) rotation
	convert rotation matrix to axis-angle rotation
	convert rotation matrix to euler angles
	convert rotation matrix to quaternion
	convert rotation matrix to homogeneous transformation

homogeneous transformations

	se(2) homogeneous transformation
	se(3) homogeneous transformation
	convert homogeneous transformation to axis-angle rotation
	extract euler angles from homogeneous transformation
	extract quaternion from homogeneous transformation
	extract rotation matrix from homogeneous transformation
	extract translation vector from homogeneous transformation

coordinate conversions

	difference between two angles
	convert cartesian coordinates to homogeneous coordinates
	convert homogeneous coordinates to cartesian coordinates
	convert translation vector to homogeneous transformation

trajectory generation

	generate polynomial trajectories using b-splines
	generate trajectory subject to kinematic constraints
	generate third-order polynomial trajectories
	generate minimum jerk trajectory through waypoints
	generate minimum snap trajectory through waypoints
	generate fifth-order trajectories
	generate trajectories between orientation rotation matrices
	generate trajectories between two transformations
	generate trajectories with trapezoidal velocity profiles
	waypoint trajectory generator
	piecewise-polynomial trajectory generator

plot transformations

plot 3-d transforms from translations and rotations

blocks

	convert to a specified coordinate transformation representation
	generate polynomial trajectories through waypoints
	generate trajectory between two orientations
	generate trajectory between two homogeneous transforms
	generate trajectories though multiple waypoints using trapezoidal velocity profiles
	generate minimum jerk polynomial trajectories through multiple waypoints
	generate minimum snap polynomial trajectories through multiple waypoints

topics

list of standard units used in the robotics system toolbox.
summary of the different coordinate transformations used in robotics.