├── .gitignore ├── LICENSE ├── README.md ├── doc ├── MRlib.pdf └── MRlib.tex └── packages ├── MATLAB ├── README.md └── mr │ ├── Adjoint.m │ ├── AxisAng3.m │ ├── AxisAng6.m │ ├── CartesianTrajectory.m │ ├── ComputedTorque.m │ ├── CubicTimeScaling.m │ ├── DistanceToSE3.m │ ├── DistanceToSO3.m │ ├── EndEffectorForces.m │ ├── EulerStep.m │ ├── FKinBody.m │ ├── FKinSpace.m │ ├── ForwardDynamics.m │ ├── ForwardDynamicsTrajectory.m │ ├── GravityForces.m │ ├── IKinBody.m │ ├── IKinSpace.m │ ├── InverseDynamics.m │ ├── InverseDynamicsTrajectory.m │ ├── JacobianBody.m │ ├── JacobianSpace.m │ ├── JointTrajectory.m │ ├── MassMatrix.m │ ├── MatrixExp3.m │ ├── MatrixExp6.m │ ├── MatrixLog3.m │ ├── MatrixLog6.m │ ├── NearZero.m │ ├── Normalize.m │ ├── ProjectToSE3.m │ ├── ProjectToSO3.m │ ├── QuinticTimeScaling.m │ ├── RotInv.m │ ├── RpToTrans.m │ ├── ScrewToAxis.m │ ├── ScrewTrajectory.m │ ├── SimulateControl.m │ ├── TestIfSE3.m │ ├── TestIfSO3.m │ ├── TransInv.m │ ├── TransToRp.m │ ├── VecTose3.m │ ├── VecToso3.m │ ├── VelQuadraticForces.m │ ├── ad.m │ ├── se3ToVec.m │ └── so3ToVec.m ├── Mathematica ├── ModernRobotics.m └── README.md └── Python ├── README.md ├── modern_robotics ├── __init__.py ├── __version__.py └── core.py └── setup.py /.gitignore: -------------------------------------------------------------------------------- 1 | *.pyc 2 | *build/ 3 | *dist/ 4 | *.egg-info* 5 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NxRLab/ModernRobotics/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NxRLab/ModernRobotics/HEAD/README.md -------------------------------------------------------------------------------- /doc/MRlib.pdf: 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