├── .gitignore ├── .travis.yml ├── .travis └── tex-config.ini ├── Animate.m ├── Apps ├── Polynomialspirals.mlappinstall ├── Polynomialspirals.prj ├── Triple angle visualizer.mlappinstall ├── Triple angle visualizer.prj ├── polyspiral.mlapp ├── tripleangle.fig ├── tripleangle.m ├── tripleangle_App.mlapp └── tripleangle_App_report.html ├── CITATION ├── CONTRIB ├── DEPENDENCIES ├── LICENSE ├── PGraph.m ├── PackageToolbox.prj ├── Plucker.m ├── Quaternion.m ├── README.md ├── RELEASE ├── RTBPose.m ├── SE2.m ├── SE3.m ├── SO2.m ├── SO3.m ├── SpatialAcceleration.m ├── SpatialF6.m ├── SpatialForce.m ├── SpatialInertia.m ├── SpatialM6.m ├── SpatialMath.prj ├── SpatialMomentum.m ├── SpatialVec6.m ├── SpatialVelocity.m ├── ToolboxPackagingConfiguration.prj ├── Twist.m ├── UnitQuaternion.m ├── about.m ├── angdiff.m ├── angvec2r.m ├── angvec2tr.m ├── arrow3.m ├── circle.m ├── colnorm.m ├── delta2tr.m ├── doc ├── figs │ ├── icon.png │ └── tranimate.gif ├── info.xml ├── info │ ├── acknowledgements.html │ ├── helptoc.xml │ ├── icons │ │ ├── bullet_orange.gif │ │ └── more_arrows.gif │ ├── introduction.html │ ├── license.html │ ├── release.html │ ├── robot_product_page.html │ └── style.css └── manual │ ├── Makefile │ ├── figs │ ├── CT-02-02-eps-converted-to.pdf │ ├── CT-02-02.eps │ ├── CT-02-03-eps-converted-to.pdf │ ├── CT-02-03.eps │ ├── frontcover.pdf │ ├── frontcover1.pdf │ └── plot3d.pdf │ ├── frontcover.m │ ├── right.ist │ ├── spatialmath.tex │ └── titlepage.pdf ├── e2h.m ├── eul2jac.m ├── eul2r.m ├── eul2tr.m ├── h2e.m ├── helpinfo.xml ├── homline.m ├── homtrans.m ├── ishomog.m ├── ishomog2.m ├── isrot.m ├── isrot2.m ├── isunit.m ├── isvec.m ├── lift23.m ├── numcols.m ├── numrows.m ├── oa2r.m ├── oa2tr.m ├── plot2.m ├── plot_arrow.m ├── plot_box.m ├── plot_circle.m ├── plot_ellipse.m ├── plot_homline.m ├── plot_point.m ├── plot_poly.m ├── plot_ribbon.m ├── plot_sphere.m ├── plotvol.m ├── r2t.m ├── randinit.m ├── rot2.m ├── rotx.m ├── roty.m ├── rotz.m ├── rpy2jac.m ├── rpy2r.m ├── rpy2tr.m ├── rt2tr.m ├── skew.m ├── skewa.m ├── smtbcheck.m ├── stlRead.m ├── t2r.m ├── tb_optparse.m ├── tr2angvec.m ├── tr2delta.m ├── tr2eul.m ├── tr2jac.m ├── tr2rpy.m ├── tr2rt.m ├── tranimate.m ├── tranimate2.m ├── transl.m ├── transl2.m ├── trchain.m ├── trchain2.m ├── trexp.m ├── trexp2.m ├── trinterp.m ├── trinterp2.m ├── trlog.m ├── trnorm.m ├── trot2.m ├── trotx.m ├── troty.m ├── trotz.m ├── trplot.m ├── trplot2.m ├── trprint.m ├── trprint2.m ├── trscale.m ├── unit.m ├── unit_test ├── DifferentialMotionTest.m ├── PGraphTest.m ├── PlotTest.m ├── PluckerTest.m ├── QuaternionTest.m ├── README.txt ├── RTBPoseTest.m ├── RunAllTests.m ├── SE2Test.m ├── SE3Test.m ├── SO2Test.m ├── SO3Test.m ├── SpatialTest.m ├── TODO ├── TrajectoryTest.m ├── Transformations2Test.m ├── TransformationsTest.m ├── TwistTest.m ├── UnitQuaternionTest.m ├── UtilityTest.m ├── data │ ├── 20mm_cube_ascii.stl │ └── 20mm_cube_binary.stl ├── failedtests.m ├── featherstone_test │ ├── 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