├── .gitignore ├── @FIRM_edge_class └── FIRM_edge_class.m ├── @FIRM_node_class └── FIRM_node_class.m ├── @Hbelief_G └── Hbelief_G.m ├── @Hbelief_p └── Hbelief_p.m ├── @Hstate └── Hstate.m ├── @Kalman_filter ├── Kalman_filter.m └── private │ └── dpre.m ├── @Linear_system_class └── Linear_system_class.m ├── @Planning_Problem └── Planning_Problem.m ├── @user_data_class └── user_data_class.m ├── Aji_V-rep ├── .picasa.ini ├── .picasaoriginals │ ├── .picasa.ini │ └── test.jpg ├── Collabration │ ├── V-rep_MAtlab │ │ ├── Help_Vrep-Matlab_integration.odt │ │ ├── Help_generator.m │ │ ├── Main.m │ │ ├── Matlab_V-rep Simulation.odt │ │ ├── check.m │ │ ├── environment.obj │ │ ├── extApi.h │ │ ├── first_Example.m │ │ ├── myfilebrkpnts.mat │ │ ├── obstacles.m │ │ ├── passing .obj file vrep.odt │ │ ├── remApi.m │ │ ├── remoteApi.dll │ │ ├── remoteApi.so │ │ ├── second_Ex.m │ │ ├── second_Example.m │ │ ├── simpleTest.m │ │ ├── test_vrep_direct_command.m │ │ ├── test_vrep_v1.m │ │ └── vrep_interface.m │ ├── kuka.obj │ └── office.obj ├── Example_withControlModes.m ├── Examples │ └── Example_withControlModes.m ├── Help files │ ├── Help_Vrep-Matlab_integration.odt │ ├── Matlab_V-rep Simulation.odt │ └── passing .obj file vrep.odt ├── Robot models │ ├── dr12_with_controls.ttm │ ├── dr12_without_controls.ttm │ ├── dr20_with_controls.ttm │ └── dr20_without_controls.ttm ├── Test1 │ ├── .picasa.ini │ ├── .picasaoriginals │ │ ├── .picasa.ini │ │ ├── distance_step.jpg │ │ └── trajectory.jpg │ ├── LinearvelocityExp1806.docx │ ├── Plotting.m │ ├── Rotation Experiments- (19-06-2013).docx │ ├── distance_step.jpg │ ├── firm velocity.jpg │ ├── trajectory.jpg │ └── trajectory_30.jpg ├── check.m ├── check1.m ├── env_fourthfloor.ttt ├── extApi.h ├── first_Example.m ├── laserScanner.m ├── laser_Scanner.m ├── laser_initialize.m ├── laser_scan.m ├── laser_test1.ttt ├── laser_test2.ttt ├── laser_test3.ttt ├── laser_test4.ttt ├── laser_test5.ttt ├── laser_test_dr12.ttt ├── laser_test_dr12_with_control.ttt ├── laser_test_dr20.ttt ├── laser_test_dr20_with_control.ttt ├── obstacles.m ├── remApi.m ├── remoteApi_32.dll ├── remoteApi_32.so ├── remoteApi_64.dll ├── remoteApi_64.so ├── sample_laser_data.mat ├── second_Ex.m ├── sensor.m ├── test.fig ├── test.jpg ├── test_collision.m ├── test_laser.m ├── test_laser_1.m ├── test_laser_2.m ├── test_vrep_1.jpg ├── test_vrep_v1.m └── vrep_interface.m ├── All_FIRM_graph_classes ├── @FIRM_graph_interface │ └── FIRM_graph_interface.m ├── @PLQG_based_FIRM_graph_class │ └── PLQG_based_FIRM_graph_class.m ├── @Stationary_LQG_based_FIRM_graph_class │ └── Stationary_LQG_based_FIRM_graph_class.m └── FIRM_graph_class.m ├── All_Filters ├── EKF.m ├── LKF.m ├── PKF.m ├── SKF.m ├── filter_interface.m ├── kalman_filter_interface.m └── particle_filter.m ├── All_PRM_classes ├── Obsolete_classes │ ├── @Orbit_class │ │ └── Orbit_class.m │ ├── @PNPRM_class │ │ └── PNPRM_class.m │ ├── @PRM_3D_planar │ │ └── PRM_3D_planar.m │ ├── @PRM_class │ │ └── PRM_class.m │ ├── @PRM_class_nodes_along_edges │ │ └── PRM_class_nodes_along_edges.m │ └── @PRM_interface │ │ └── PRM_interface.m ├── Orbit_PRM_class.m ├── PRM_class (Ajinkya Jain's conflicted copy 2013-12-02).m ├── PRM_interface.m └── Point_PRM_class.m ├── All_belief_classes ├── Gaussian_belief_interface.m ├── Multi_planar_robots_XYTheta │ ├── belief_NotImplementedYet.m │ └── belief_NotImplementedYet.m.orig ├── Particle_belief.m ├── Planar_dyn_manipulator_belief.m ├── Quadrotor_belief.m ├── Six_DOF_robot_belief.m ├── multi_robot_positional_belief.m ├── planar_robot_XYTheta_belief.m └── revolute_joint_manipulator_belief.m ├── All_controller_classes ├── @DFL_EKF_class │ └── DFL_EKF_class.m ├── @DFL_SKF_class │ └── DFL_SKF_class.m ├── @LQG_class │ └── LQG_class.m ├── Controller_interface.m ├── Finite_time_LQG_class.m ├── Finite_time_LQG_class.m.orig ├── LQG_interface.m ├── Obsolete_code │ ├── @LQG_class │ │ └── LQG_class.m │ ├── @LQG_periodic_class │ │ └── LQG_periodic_class.m │ └── @LQG_stationary_class │ │ └── LQG_stationary_class.m ├── PLQG_class.m └── SLQG_class.m ├── All_motion_models ├── Aircraft_Kinematic.m ├── Dynamical_planar_manipulator.m ├── MotionModel_class (Ajinkya Jain's conflicted copy 2013-12-02).m ├── MotionModel_interface.m ├── Multi_Omni_directional_robots │ ├── MotionModel_class_NotImplementedYet.m │ └── html │ │ └── MotionModel_class.html ├── Omni_directional_robot.m ├── QuadRelated │ ├── GiveNominalTrajectory.m │ ├── QuadFeedbackLinearization │ ├── QuadFeedbackLinearization.m │ ├── helicopter.mat │ ├── main.m │ ├── mainFeedbackLinearization.m │ ├── mainFeedbackLinearization.m.mine │ ├── mainFeedbackLinearization.m.r52703 │ ├── mainFeedbackLinearization.m.r52719 │ ├── quadDyn.m │ ├── steerHeading.m │ ├── steerLinearSystembyLP.m │ ├── steerQuad.m │ ├── steerX.m │ ├── steerY.m │ ├── steerbyLPExamples.m │ └── trajectory2.m ├── Quadrotor_MM.m ├── RRT3D.m ├── RandomWalk.m ├── Revolute_joint_manipulator.m ├── TestScriptForMotionModels.m ├── Unicycle_robot.m ├── Unicycle_robot │ └── html │ │ ├── MotionModel_class.html │ │ ├── MotionModel_class_eq05638.png │ │ ├── MotionModel_class_eq05840.png │ │ ├── MotionModel_class_eq14150.png │ │ ├── MotionModel_class_eq19150.png │ │ ├── MotionModel_class_eq19849.png │ │ ├── MotionModel_class_eq20449.png │ │ ├── MotionModel_class_eq26040.png │ │ ├── MotionModel_class_eq26730.png │ │ ├── MotionModel_class_eq27216.png │ │ ├── MotionModel_class_eq28794.png │ │ ├── MotionModel_class_eq28998.png │ │ ├── MotionModel_class_eq29239.png │ │ ├── MotionModel_class_eq29381.png │ │ ├── MotionModel_class_eq29804.png │ │ ├── MotionModel_class_eq30817.png │ │ ├── MotionModel_class_eq31542.png │ │ ├── MotionModel_class_eq38783.png │ │ ├── MotionModel_class_eq40459.png │ │ ├── MotionModel_class_eq40552.png │ │ ├── MotionModel_class_eq41047.png │ │ ├── MotionModel_class_eq41900.png │ │ ├── MotionModel_class_eq42320.png │ │ ├── MotionModel_class_eq49368.png │ │ ├── MotionModel_class_eq53374.png │ │ ├── MotionModel_class_eq53786.png │ │ ├── MotionModel_class_eq64535.png │ │ ├── MotionModel_class_eq71581.png │ │ ├── MotionModel_class_eq78099.png │ │ ├── MotionModel_class_eq83128.png │ │ ├── MotionModel_class_eq84585.png │ │ ├── MotionModel_class_eq93425.png │ │ └── MotionModel_class_eq99819.png ├── hs_err_pid4456.log ├── html │ ├── MotionModel_interface.html │ ├── Unicycle_robot.html │ ├── Unicycle_robot_eq05840.png │ ├── Unicycle_robot_eq26730.png │ ├── Unicycle_robot_eq27216.png │ ├── Unicycle_robot_eq28998.png │ ├── Unicycle_robot_eq29239.png │ ├── Unicycle_robot_eq38783.png │ ├── Unicycle_robot_eq40459.png │ ├── Unicycle_robot_eq41900.png │ ├── Unicycle_robot_eq64535.png │ ├── Unicycle_robot_eq71581.png │ ├── Unicycle_robot_eq83128.png │ ├── Unicycle_robot_eq84585.png │ └── Unicycle_robot_eq99819.png ├── steerLinearSystembyLP.m └── youbot_base.m ├── All_observation_models ├── Dyn_manipulator_wall_sensing_deadzone.m ├── Full_state_additive_Gaussian.m ├── GPS_positional.m ├── Landmarks_3D_EulerAngles.m ├── Landmarks_3D_Range_bearing.m ├── Landmarks_Range_bearing.m ├── Landmarks_Range_bearing_laser.m ├── Landmarks_Range_bearing_old.m ├── LaserRangeFinder_Landmarks_Range_bearing.m ├── Multi_robot_sensing │ └── ObservationModel_class_NotImplementedYet.m ├── ObservationModel_class_two_robots_interface.m ├── ObservationModel_interface.m ├── Planar_manipulator_wall_sensing.m ├── Planar_manipulator_wall_sensing_deadzone.m ├── Three_robot_good_poor_GPS_interface.m ├── Three_robot_good_poor_GPS_no_comm.m ├── Three_robot_good_poor_GPS_with_comm.m ├── Two_robots_no_communication.m └── Two_robots_with_communication │ └── ObservationModel_class_NotImplementedYet.m ├── All_separated_controller_classes ├── Finite_time_LQR_class.m ├── LQR_class.m ├── LQR_interface.m ├── Periodic_LQR_class.m ├── Stationary_LQR_class.m ├── private │ ├── dpre.m │ └── error_checking_for_DARE.m └── separated_controller_interface.m ├── All_simulator_classes ├── EmbeddedSimulator.m ├── SimulatorInterface.m ├── VRepSimulator.m ├── VRepSimulator_ajinkia.m ├── embedded_sim_config ├── embedded_simulator │ ├── EmbeddedSimulator_1.m │ └── embedded_sim_config_1 ├── env_fourthfloor.ttt ├── laserScanner.m └── v_rep_models │ ├── backup │ ├── laser_test_dr12.ttt │ ├── laser_test_dr12_with_control.ttt │ ├── laser_test_dr20.ttt │ ├── laser_test_dr20_with_control.ttt │ ├── youbot_test_w_laser.ttt │ ├── youbot_test_w_laser_ajin.ttt │ └── youbot_test_wo_laser.ttt │ ├── robot_obj_models │ ├── arm_base_frame.obj │ ├── youbot.dae │ ├── youbot.obj │ ├── youbot.obj.mtl │ ├── youbot_simple.obj │ ├── youbot_simple1.obj │ ├── youbot_simple2.obj │ ├── youbot_simple3.obj │ ├── youbot_simple4.obj │ ├── youbot_simple5.obj │ └── youbot_with_laser.obj │ ├── youbot_test_w_laser.ttt │ └── youbot_test_w_laser_.ttt ├── All_stabilizer_classes ├── Obsolete_code │ ├── @Orbit_stabilizer_PLQG_class │ │ ├── Orbit_stabilizer_PLQG_class.m │ │ └── stabilizer_class.m │ ├── @Point_stabilizer_DFL_EKF │ │ └── Node_DFL_EKF.m │ └── @Stabilizer_interface │ │ └── Stabilizer_interface.m ├── Orbit_stabilizer_PLQG_class.m ├── Point_stabilizer_DFL_SKF.m ├── Point_stabilizer_SLQG_class.m ├── Stabilizer_interface.m ├── stabilizer_class (Ajinkya Jain's conflicted copy 2013-12-02).m └── stabilizer_class.m ├── All_state_classes ├── Multi_planar_robots_XYTheta_state.m ├── Planar_dyn_manipulator_state.m ├── Quadrotor_state.m ├── Six_DOF_robot_state.m ├── multi_robot_positional_state.m ├── planar_robot_XYTheta_state.m ├── revolute_joint_manipulator_state.m └── state_interface.m ├── Code_for_testing_classes ├── Initial_test_Periodic_delete.m ├── Test_stabilizers.m └── Testing_orbit_connection_delete.m ├── Environment_Construction ├── @obstacles_class │ └── obstacles_class.m ├── environment_forth_floor.obj ├── environment_forth_floor.obj.meshcache ├── getEnvironmentFromUser.m └── sample_map_export_from_vrep.obj ├── ExternalToolboxes ├── Ray Casting for Robot Localization │ ├── castrays.m │ ├── map.JPG │ ├── map_bw.JPG │ └── map_bw.mat ├── WOBJ_toolbox_Version2b │ ├── examples │ │ ├── example1.obj │ │ ├── example10.bmp │ │ ├── example10.mtl │ │ ├── example10.obj │ │ ├── example11.obj │ │ ├── example12.obj │ │ ├── example2.obj │ │ ├── example3.obj │ │ ├── example4.obj │ │ ├── example5.obj │ │ ├── example6.obj │ │ ├── example7.obj │ │ ├── example8.obj │ │ └── example9.obj │ ├── help file format │ │ ├── MTL_format.html │ │ └── OBJ_format.html │ ├── read_wobj.m │ ├── skinMRI.mtl │ ├── skinMRI.obj │ └── write_wobj.m ├── YAMLMatlab_0.4.3 │ ├── DateTime.m │ ├── MIT-license.txt │ ├── ReadYaml.m │ ├── ReadYamlRaw.m │ ├── Tests │ │ ├── Data │ │ │ ├── test_import │ │ │ │ ├── file1.yaml │ │ │ │ ├── file2.yaml │ │ │ │ ├── file3.yaml │ │ │ │ ├── file4.yaml │ │ │ │ ├── import.mat │ │ │ │ ├── import.yaml │ │ │ │ ├── import_def.mat │ │ │ │ ├── import_def.yaml │ │ │ │ ├── import_nonex.yaml │ │ │ │ ├── selftest_report.html │ │ │ │ └── ~temporary.yaml │ │ │ ├── test_inheritance │ │ │ │ ├── inheritance.mat │ │ │ │ ├── inheritance.yaml │ │ │ │ ├── inheritance_loop.yaml │ │ │ │ ├── inheritance_multiple.mat │ │ │ │ └── inheritance_multiple.yaml │ │ │ ├── test_misc │ │ │ │ ├── bug6.yaml │ │ │ │ ├── dos_CRLF.yaml │ │ │ │ ├── miscellaneous.yaml │ │ │ │ ├── spec_chars_utf8.yaml │ │ │ │ └── unix_LF.yaml │ │ │ └── test_primitives │ │ │ │ ├── floating_points.mat │ │ │ │ ├── floating_points.yaml │ │ │ │ ├── indentation.mat │ │ │ │ ├── indentation.yaml │ │ │ │ ├── matrices.mat │ │ │ │ ├── matrices.yaml │ │ │ │ ├── sequence_mapping.mat │ │ │ │ ├── sequence_mapping.yaml │ │ │ │ ├── simple.mat │ │ │ │ ├── simple.yaml │ │ │ │ ├── time.mat │ │ │ │ ├── time.yaml │ │ │ │ ├── time_variants.mat │ │ │ │ ├── time_variants.yaml │ │ │ │ ├── usecase_struct_01.mat │ │ │ │ ├── usecase_struct_01.yaml │ │ │ │ └── whitespaces.yaml │ │ ├── selftest_report.html │ │ ├── selftest_yamlmatlab.m │ │ ├── test_ReadYaml.m │ │ ├── test_WriteYaml.m │ │ └── ~temporary.yaml │ ├── WriteYaml.m │ ├── datadump.m │ ├── deflateimports.m │ ├── doinheritance.m │ ├── dosubstitution.m │ ├── external │ │ ├── LICENSE-2.0.txt │ │ └── snakeyaml-1.9.jar │ ├── extras │ │ ├── GetYamlVals.m │ │ └── TimeVals2Cell.m │ ├── iscolumnvector.m │ ├── ismymatrix.m │ ├── isord.m │ ├── isrowvector.m │ ├── issingle.m │ ├── kwd_parent.m │ ├── makematrices.m │ ├── merge_struct.m │ ├── mergeimports.m │ └── sample_yaml_from_user_data ├── coldetect │ ├── README.txt │ ├── coldetect.cpp │ ├── coldetect.m │ └── coldetect.mexw32 ├── configFileReadWriteExperimental │ ├── sample │ └── sample.ini ├── cprintf.m ├── deg2rad.m ├── geom3d │ ├── geom3d-demos │ │ ├── demoDrawTubularMesh.m │ │ ├── demoGeom3d.m │ │ ├── demoInertiaEllipsoid.m │ │ ├── demoRevolutionSurface.m │ │ ├── drawSoccerBall.m │ │ └── html │ │ │ ├── demoDrawTubularMesh.html │ │ │ ├── demoDrawTubularMesh.png │ │ │ ├── demoDrawTubularMesh_01.png │ │ │ ├── demoDrawTubularMesh_02.png │ │ │ ├── demoDrawTubularMesh_03.png │ │ │ ├── demoDrawTubularMesh_04.png │ │ │ ├── demoGeom3d.html │ │ │ ├── demoGeom3d.png │ │ │ ├── demoGeom3d_01.png │ │ │ ├── demoGeom3d_02.png │ │ │ ├── demoGeom3d_03.png │ │ │ ├── demoInertiaEllipsoid.html │ │ │ ├── demoInertiaEllipsoid.png │ │ │ ├── demoInertiaEllipsoid_01.png │ │ │ ├── demoInertiaEllipsoid_02.png │ │ │ ├── demoRevolutionSurface.html │ │ │ ├── demoRevolutionSurface.png │ │ │ ├── demoRevolutionSurface_01.png │ │ │ ├── demoRevolutionSurface_02.png │ │ │ ├── drawSoccerBall.html │ │ │ ├── drawSoccerBall.png │ │ │ ├── drawSoccerBall_01.png │ │ │ ├── drawSoccerBall_02.png │ │ │ └── drawSoccerBall_03.png │ ├── geom3d │ │ ├── Contents.m │ │ ├── anglePoints3d.m │ │ ├── angleSort3d.m │ │ ├── angles3d.m │ │ ├── boundingBox3d.m │ │ ├── box3dVolume.m │ │ ├── boxes3d.m │ │ ├── cart2cyl.m │ │ ├── cart2sph2.m │ │ ├── cart2sph2d.m │ │ ├── changelog.txt │ │ ├── changes.txt │ │ ├── circle3dOrigin.m │ │ ├── circle3dPoint.m │ │ ├── circle3dPosition.m │ │ ├── circles3d.m │ │ ├── clipConvexPolygon3dHP.m │ │ ├── clipLine3d.m │ │ ├── clipPoints3d.m │ │ ├── clipPolygon3dHP.m │ │ ├── composeTransforms3d.m │ │ ├── createBasisTransform3d.m │ │ ├── createEulerAnglesRotation.m │ │ ├── createLine3d.m │ │ ├── createPlane.m │ │ ├── createRotation3dLineAngle.m │ │ ├── createRotationOx.m │ │ ├── createRotationOy.m │ │ ├── createRotationOz.m │ │ ├── createScaling3d.m │ │ ├── createSphere.m │ │ ├── createTranslation3d.m │ │ ├── cyl2cart.m │ │ ├── dihedralAngle.m │ │ ├── distanceLines3d.m │ │ ├── distancePointEdge3d.m │ │ ├── distancePointLine3d.m │ │ ├── distancePointPlane.m │ │ ├── distancePoints3d.m │ │ ├── drawAxis3d.m │ │ ├── drawAxisCube.m │ │ ├── drawBox3d.m │ │ ├── drawCircle3d.m │ │ ├── drawCircleArc3d.m │ │ ├── drawCube.m │ │ ├── drawCuboid.m │ │ ├── drawCurve3d.m │ │ ├── drawCylinder.m │ │ ├── drawEdge3d.m │ │ ├── drawEllipse3d.m │ │ ├── drawEllipsoid.m │ │ ├── drawGrid3d.m │ │ ├── drawLine3d.m │ │ ├── drawPartialPatch.m │ │ ├── drawPlane3d.m │ │ ├── drawPoint3d.m │ │ ├── drawPolygon3d.m │ │ ├── drawPolyline3d.m │ │ ├── drawSphere.m │ │ ├── drawSphericalEdge.m │ │ ├── drawSphericalPolygon.m │ │ ├── drawSphericalTriangle.m │ │ ├── drawSurfPatch.m │ │ ├── drawTorus.m │ │ ├── drawVector3d.m │ │ ├── ellipsoidSurfaceArea.m │ │ ├── eulerAnglesToRotation3d.m │ │ ├── fillPolygon3d.m │ │ ├── fillSphericalPolygon.m │ │ ├── fillSphericalTriangle.m │ │ ├── fitLine3d.m │ │ ├── fitPlane.m │ │ ├── hypot3.m │ │ ├── inertiaEllipsoid.m │ │ ├── intersectBoxes3d.m │ │ ├── intersectEdgePlane.m │ │ ├── intersectLineCylinder.m │ │ ├── intersectLinePlane.m │ │ ├── intersectLinePolygon3d.m │ │ ├── intersectLineSphere.m │ │ ├── intersectLineTriangle3d.m │ │ ├── intersectPlaneLine.m │ │ ├── intersectPlaneSphere.m │ │ ├── intersectPlanes.m │ │ ├── intersectRayPolygon3d.m │ │ ├── isBelowPlane.m │ │ ├── isCoplanar.m │ │ ├── isParallel3d.m │ │ ├── isPerpendicular3d.m │ │ ├── linePosition3d.m │ │ ├── lines3d.m │ │ ├── medianPlane.m │ │ ├── mergeBoxes3d.m │ │ ├── midPoint3d.m │ │ ├── normalize3d.m │ │ ├── normalizePlane.m │ │ ├── normalizeVector3d.m │ │ ├── parallelLine3d.m │ │ ├── parallelPlane.m │ │ ├── planeNormal.m │ │ ├── planePoint.m │ │ ├── planePosition.m │ │ ├── planes3d.m │ │ ├── planesBisector.m │ │ ├── point3dBounds.m │ │ ├── points3d.m │ │ ├── polygon3dNormalAngle.m │ │ ├── polygonArea3d.m │ │ ├── polygonCentroid3d.m │ │ ├── polygons3d.m │ │ ├── private │ │ │ └── localToGlobal3d.m │ │ ├── projPointOnLine3d.m │ │ ├── projPointOnPlane.m │ │ ├── randomAngle3d.m │ │ ├── randomPointInBox3d.m │ │ ├── readme.txt │ │ ├── recenterTransform3d.m │ │ ├── reverseLine3d.m │ │ ├── reversePlane.m │ │ ├── revolutionSurface.m │ │ ├── rotation3dAxisAndAngle.m │ │ ├── rotation3dToEulerAngles.m │ │ ├── rotationOx.m │ │ ├── rotationOy.m │ │ ├── rotationOz.m │ │ ├── scale3d.m │ │ ├── scaling3d.m │ │ ├── sph2cart2.m │ │ ├── sph2cart2d.m │ │ ├── spheres.m │ │ ├── sphericalAngle.m │ │ ├── sphericalVoronoiDomain.m │ │ ├── surfaceCurvature.m │ │ ├── transformLine3d.m │ │ ├── transformPoint3d.m │ │ ├── transformVector3d.m │ │ ├── transforms3d.m │ │ ├── translation3d.m │ │ ├── triangleArea3d.m │ │ ├── vecnorm3d.m │ │ ├── vectorAngle3d.m │ │ ├── vectorCross3d.m │ │ ├── vectorNorm3d.m │ │ └── vectors3d.m │ ├── meshes3d-demos │ │ ├── demoPolyhedra.m │ │ ├── demoTriangulateFaces.m │ │ ├── demoVoronoiCell.m │ │ └── html │ │ │ ├── demoPolyhedra.html │ │ │ ├── demoPolyhedra.png │ │ │ ├── demoPolyhedra_01.png │ │ │ ├── demoPolyhedra_02.png │ │ │ ├── demoPolyhedra_03.png │ │ │ ├── demoPolyhedra_04.png │ │ │ ├── demoPolyhedra_05.png │ │ │ ├── demoPolyhedra_06.png │ │ │ ├── demoPolyhedra_07.png │ │ │ ├── demoPolyhedra_08.png │ │ │ ├── demoPolyhedra_09.png │ │ │ ├── demoTriangulateFaces.html │ │ │ ├── demoTriangulateFaces.png │ │ │ ├── demoTriangulateFaces_01.png │ │ │ ├── demoTriangulateFaces_02.png │ │ │ ├── demoVoronoiCell.html │ │ │ ├── demoVoronoiCell.png │ │ │ ├── demoVoronoiCell_01.png │ │ │ ├── demoVoronoiCell_02.png │ │ │ └── demoVoronoiCell_03.png │ └── meshes3d │ │ ├── Contents.m │ │ ├── changelog.txt │ │ ├── checkMeshAdjacentFaces.m │ │ ├── clipConvexPolyhedronHP.m │ │ ├── clipMeshVertices.m │ │ ├── computeMeshEdges.m │ │ ├── createCube.m │ │ ├── createCubeOctahedron.m │ │ ├── createDodecahedron.m │ │ ├── createDurerPolyhedron.m │ │ ├── createIcosahedron.m │ │ ├── createMengerSponge.m │ │ ├── createOctahedron.m │ │ ├── createRhombododecahedron.m │ │ ├── createSoccerBall.m │ │ ├── createTetrahedron.m │ │ ├── createTetrakaidecahedron.m │ │ ├── cylinderMesh.m │ │ ├── drawFaceNormals.m │ │ ├── drawMesh.m │ │ ├── drawPolyhedra.m │ │ ├── drawPolyhedron.m │ │ ├── faceCentroids.m │ │ ├── faceNormal.m │ │ ├── gridmeshToQuadmesh.m │ │ ├── intersectLineMesh3d.m │ │ ├── intersectPlaneMesh.m │ │ ├── mergeCoplanarFaces.m │ │ ├── meshAdjacencyMatrix.m │ │ ├── meshDihedralAngles.m │ │ ├── meshEdgeFaces.m │ │ ├── meshEdgeLength.m │ │ ├── meshFace.m │ │ ├── meshReduce.m │ │ ├── meshSurfaceArea.m │ │ ├── meshVolume.m │ │ ├── minConvexHull.m │ │ ├── polyhedra.m │ │ ├── polyhedronCentroid.m │ │ ├── polyhedronMeanBreadth.m │ │ ├── polyhedronNormalAngle.m │ │ ├── polyhedronSlice.m │ │ ├── private │ │ ├── formatMeshOutput.m │ │ ├── localToGlobal3d.m │ │ └── parseMeshData.m │ │ ├── readMesh_off.m │ │ ├── smoothMesh.m │ │ ├── sphereMesh.m │ │ ├── steinerPolytope.m │ │ ├── surfToMesh.m │ │ ├── tetrahedronVolume.m │ │ ├── torusMesh.m │ │ ├── triangulateFaces.m │ │ ├── trimeshSurfaceArea.m │ │ └── vertexNormal.m ├── graphToolbox │ ├── __MACOSX │ │ ├── ._toolbox_graph │ │ └── toolbox_graph │ │ │ ├── ._.DS_Store │ │ │ ├── ._adjacency2incidence.m │ │ │ ├── ._adjmatrix2list.m │ │ │ ├── ._batch_levelsets_meshes.m │ │ │ ├── ._build_euclidean_weight_matrix.m │ │ │ ├── ._build_graph_from_image.m │ │ │ ├── ._bunny.gim.jpg │ │ │ ├── ._check_face_vertex.m │ │ │ ├── ._check_incircle.m │ │ │ ├── ._check_incircle.m~ │ │ │ ├── ._check_incircle_edge.m │ │ │ ├── ._compile_mex.m │ │ │ ├── ._compute_boundary.m │ │ │ ├── ._compute_combinatorial_laplacian.m │ │ │ ├── ._compute_curvature.m │ │ │ ├── ._compute_delaunay.m │ │ │ ├── ._compute_diffusion_geometry.m │ │ │ ├── ._compute_diffusion_kernel.m │ │ │ ├── ._compute_distance_graph.m │ │ │ ├── ._compute_dual_graph.m │ │ │ ├── ._compute_edge_face_ring.m │ │ │ ├── ._compute_edges.m │ │ │ ├── ._compute_face_ring.m │ │ │ ├── ._compute_geometric_laplacian.m │ │ │ ├── ._compute_laplacian_curve.m │ │ │ ├── ._compute_levelset_mesh.m │ │ │ ├── ._compute_mesh_gradient.m │ │ │ ├── ._compute_mesh_laplacian.m │ │ │ ├── ._compute_mesh_local_covariance.m │ │ │ ├── ._compute_mesh_weight.m │ │ │ ├── ._compute_normal.m │ │ │ ├── ._compute_orthocenter.m │ │ │ ├── ._compute_orthoproj_triangulation.m │ │ │ ├── ._compute_orthoproj_triangulation.m~ │ │ │ ├── ._compute_parameterization.m │ │ │ ├── ._compute_rotation.m │ │ │ ├── ._compute_semidual_graph.m │ │ │ ├── ._compute_traveling_salesman.m │ │ │ ├── ._compute_triangulation_angles.m │ │ │ ├── ._compute_vertex_face_ring.m │ │ │ ├── ._compute_vertex_ring.m │ │ │ ├── ._compute_voronoi_mesh.m │ │ │ ├── ._content.m │ │ │ ├── ._convert_gim2mesh.m │ │ │ ├── ._griddata_arbitrary.m │ │ │ ├── ._griddata_arbitrary.m~ │ │ │ ├── ._html │ │ │ ├── ._incidence2adjacency.m │ │ │ ├── ._load_gim.m │ │ │ ├── ._load_graph.m │ │ │ ├── ._mesh.exe │ │ │ ├── ._mesh_flip_faces.m │ │ │ ├── ._mesh_previewer.m │ │ │ ├── ._mesh_wrapper.m │ │ │ ├── ._metro.exe │ │ │ ├── ._metro_wrapper.m │ │ │ ├── ._mex │ │ │ ├── ._off │ │ │ ├── ._pawn.wrl │ │ │ ├── ._perform_delaunay_flipping.m │ │ │ ├── ._perform_dijkstra.m │ │ │ ├── ._perform_dijkstra_fast.dll │ │ │ ├── ._perform_dijkstra_fast.mexmaci │ │ │ ├── ._perform_dijkstra_path_extraction.m │ │ │ ├── ._perform_dijkstra_propagation.dll │ │ │ ├── ._perform_dijkstra_propagation.m │ │ │ ├── ._perform_dijkstra_propagation.mexglx │ │ │ ├── ._perform_dijkstra_propagation.mexmaci │ │ │ ├── ._perform_dijkstra_propagation_old.m │ │ │ ├── ._perform_dijkstra_propagation_slow.m │ │ │ ├── ._perform_faces_reorientation.m │ │ │ ├── ._perform_floyd_algorithm.m │ │ │ ├── ._perform_lloyd_iteration.m │ │ │ ├── ._perform_mesh_heat_diffusion.m │ │ │ ├── ._perform_mesh_simplification.m │ │ │ ├── ._perform_mesh_smoothing.m │ │ │ ├── ._perform_normal_displacement.m │ │ │ ├── ._perform_point_picking.m │ │ │ ├── ._perform_saturation.m │ │ │ ├── ._perform_triangle_flipping.m │ │ │ ├── ._plot_dijkstra.m │ │ │ ├── ._plot_edges.m │ │ │ ├── ._plot_geometry_image.m │ │ │ ├── ._plot_graph.m │ │ │ ├── ._plot_mesh.m │ │ │ ├── ._plot_silouhette.m │ │ │ ├── ._plot_spherical_triangulation.m │ │ │ ├── ._progressive_mesh.m │ │ │ ├── ._publish_html.m │ │ │ ├── ._qslim.m │ │ │ ├── ._read_gim.m │ │ │ ├── ._read_mesh.m │ │ │ ├── ._read_mfile.m │ │ │ ├── ._read_obj.m │ │ │ ├── ._read_off.m │ │ │ ├── ._read_ply.m │ │ │ ├── ._read_smf.m │ │ │ ├── ._read_tet.m │ │ │ ├── ._read_vtk.m │ │ │ ├── ._read_wrl.m │ │ │ ├── ._reverse_orientation.m │ │ │ ├── ._select3d.m │ │ │ ├── ._tests │ │ │ ├── ._tet2tri.m │ │ │ ├── ._toolbox │ │ │ ├── ._toolbox_graph.m │ │ │ ├── ._triangle.exe │ │ │ ├── ._triangulate.m │ │ │ ├── ._triangulation2adjacency.m │ │ │ ├── ._triangulation_isequal.m │ │ │ ├── ._write_gim.m │ │ │ ├── ._write_mesh.m │ │ │ ├── ._write_obj.m │ │ │ ├── ._write_off.m │ │ │ ├── ._write_ply.m │ │ │ ├── ._write_smf.m │ │ │ ├── ._write_wrl.m │ │ │ ├── html │ │ │ ├── ._content.html │ │ │ ├── ._content.png │ │ │ ├── ._content_01.png │ │ │ ├── ._content_02.png │ │ │ ├── ._content_03.png │ │ │ ├── ._content_04.png │ │ │ ├── ._content_05.png │ │ │ ├── ._content_06.png │ │ │ ├── ._content_07.png │ │ │ ├── ._content_08.png │ │ │ ├── ._content_09.png │ │ │ ├── ._content_10.png │ │ │ ├── ._content_11.png │ │ │ ├── ._content_12.png │ │ │ ├── ._gpeyre.xsl │ │ │ └── ._style.css │ │ │ ├── mex │ │ │ ├── ._config.h │ │ │ ├── ._dijkstra.cpp │ │ │ ├── ._fheap │ │ │ ├── ._fibheap.h │ │ │ ├── ._perform_dijkstra_propagation.cpp │ │ │ ├── ._perform_dijkstra_propagation.def │ │ │ ├── ._perform_dijkstra_propagation.vcproj │ │ │ ├── ._toolbox_graph.sln │ │ │ └── fheap │ │ │ │ ├── ._.svn │ │ │ │ ├── ._fib.cpp │ │ │ │ ├── ._fib.h │ │ │ │ ├── ._fibpriv.h │ │ │ │ ├── ._fibtest.c │ │ │ │ ├── ._fibtest2.c │ │ │ │ ├── ._tt.c │ │ │ │ ├── ._use.c │ │ │ │ └── .svn │ │ │ │ ├── ._all-wcprops │ │ │ │ ├── ._entries │ │ │ │ ├── ._format │ │ │ │ ├── ._prop-base │ │ │ │ ├── ._props │ │ │ │ ├── ._text-base │ │ │ │ ├── ._tmp │ │ │ │ ├── prop-base │ │ │ │ ├── ._fib.cpp.svn-base │ │ │ │ ├── ._fib.h.svn-base │ │ │ │ ├── ._fibpriv.h.svn-base │ │ │ │ ├── ._fibtest.c.svn-base │ │ │ │ ├── ._fibtest2.c.svn-base │ │ │ │ ├── ._tt.c.svn-base │ │ │ │ └── ._use.c.svn-base │ │ │ │ ├── text-base │ │ │ │ ├── ._fib.cpp.svn-base │ │ │ │ ├── ._fib.h.svn-base │ │ │ │ ├── ._fibpriv.h.svn-base │ │ │ │ ├── ._fibtest.c.svn-base │ │ │ │ ├── ._fibtest2.c.svn-base │ │ │ │ ├── ._tt.c.svn-base │ │ │ │ └── ._use.c.svn-base │ │ │ │ └── tmp │ │ │ │ ├── ._prop-base │ │ │ │ ├── ._props │ │ │ │ ├── ._text-base │ │ │ │ └── ._wcprops │ │ │ ├── off │ │ │ ├── ._.svn │ │ │ ├── ._beetle.off │ │ │ ├── ._cube.off │ │ │ ├── ._cube_oversampled.off │ │ │ ├── ._cylinder.off │ │ │ ├── ._elephant-50kv.off │ │ │ ├── ._hhh.off │ │ │ ├── ._hole_sphere1.off │ │ │ ├── ._hole_sphere2.off │ │ │ ├── ._hole_sphere3.off │ │ │ ├── ._hole_sphere4.off │ │ │ ├── ._hole_sphere5.off │ │ │ ├── ._hole_sphere6.off │ │ │ ├── ._hypersheet.off │ │ │ ├── ._mannequin.off │ │ │ ├── ._mushroom.off │ │ │ ├── ._nefertiti-entire.off │ │ │ ├── ._nefertiti.off │ │ │ ├── ._pipes.off │ │ │ ├── ._tre_twist.off │ │ │ ├── ._venus.off │ │ │ └── .svn │ │ │ │ ├── ._all-wcprops │ │ │ │ ├── ._entries │ │ │ │ ├── ._format │ │ │ │ ├── ._prop-base │ │ │ │ ├── ._props │ │ │ │ ├── ._text-base │ │ │ │ ├── ._tmp │ │ │ │ ├── prop-base │ │ │ │ ├── ._beetle.off.svn-base │ │ │ │ ├── ._cube.off.svn-base │ │ │ │ ├── ._cube_oversampled.off.svn-base │ │ │ │ ├── ._cylinder.off.svn-base │ │ │ │ ├── ._elephant-50kv.off.svn-base │ │ │ │ ├── ._hhh.off.svn-base │ │ │ │ ├── ._hole_sphere1.off.svn-base │ │ │ │ ├── ._hole_sphere2.off.svn-base │ │ │ │ ├── ._hole_sphere3.off.svn-base │ │ │ │ ├── ._hole_sphere4.off.svn-base │ │ │ │ ├── ._hole_sphere5.off.svn-base │ │ │ │ ├── ._hole_sphere6.off.svn-base │ │ │ │ ├── ._hypersheet.off.svn-base │ │ │ │ ├── ._mannequin.off.svn-base │ │ │ │ ├── ._mushroom.off.svn-base │ │ │ │ ├── ._nefertiti-entire.off.svn-base │ │ │ │ ├── ._nefertiti.off.svn-base │ │ │ │ ├── ._pipes.off.svn-base │ │ │ │ ├── ._tre_twist.off.svn-base │ │ │ │ └── ._venus.off.svn-base │ │ │ │ ├── text-base │ │ │ │ ├── ._beetle.off.svn-base │ │ │ │ ├── ._cube.off.svn-base │ │ │ │ ├── ._cube_oversampled.off.svn-base │ │ │ │ ├── ._cylinder.off.svn-base │ │ │ │ ├── ._elephant-50kv.off.svn-base │ │ │ │ ├── ._hhh.off.svn-base │ │ │ │ ├── ._hole_sphere1.off.svn-base │ │ │ │ ├── ._hole_sphere2.off.svn-base │ │ │ │ ├── ._hole_sphere3.off.svn-base │ │ │ │ ├── ._hole_sphere4.off.svn-base │ │ │ │ ├── ._hole_sphere5.off.svn-base │ │ │ │ ├── ._hole_sphere6.off.svn-base │ │ │ │ ├── ._hypersheet.off.svn-base │ │ │ │ ├── ._mannequin.off.svn-base │ │ │ │ ├── ._mushroom.off.svn-base │ │ │ │ ├── ._nefertiti-entire.off.svn-base │ │ │ │ ├── ._nefertiti.off.svn-base │ │ │ │ ├── ._pipes.off.svn-base │ │ │ │ ├── ._tre_twist.off.svn-base │ │ │ │ └── ._venus.off.svn-base │ │ │ │ └── tmp │ │ │ │ ├── ._prop-base │ │ │ │ ├── ._props │ │ │ │ ├── ._text-base │ │ │ │ └── ._wcprops │ │ │ ├── tests │ │ │ ├── ._.svn │ │ │ ├── ._test_compression.m │ │ │ ├── ._test_compression_fixed.m │ │ │ ├── ._test_constrained_delaunay.m │ │ │ ├── ._test_curvature.m │ │ │ ├── ._test_diffusion_wavelets.m │ │ │ ├── ._test_dijkstra.m │ │ │ ├── ._test_dijkstra_astar.m │ │ │ ├── ._test_drawing.m │ │ │ ├── ._test_duality.m │ │ │ ├── ._test_face_reorientation.m │ │ │ ├── ._test_filling_holes.m │ │ │ ├── ._test_flattening.m │ │ │ ├── ._test_free_boundary.m │ │ │ ├── ._test_grid_data.m │ │ │ ├── ._test_image_approx_refinement.m │ │ │ ├── ._test_image_approx_thining.m │ │ │ ├── ._test_laplacian_curve.m │ │ │ ├── ._test_levelset_mesh.m │ │ │ ├── ._test_lloyd.m │ │ │ ├── ._test_mesh.m │ │ │ ├── ._test_mesh_processing.m │ │ │ ├── ._test_mesh_simplification.m │ │ │ ├── ._test_mesh_smoothing.m │ │ │ ├── ._test_mex.m │ │ │ ├── ._test_parameterization.m │ │ │ ├── ._test_spectra.m │ │ │ ├── ._test_spherical_triangulation_drawing.m │ │ │ ├── ._test_tets.m │ │ │ ├── ._test_wave_equation.m │ │ │ └── .svn │ │ │ │ ├── ._all-wcprops │ │ │ │ ├── ._entries │ │ │ │ ├── ._format │ │ │ │ ├── ._prop-base │ │ │ │ ├── ._props │ │ │ │ ├── ._text-base │ │ │ │ ├── ._tmp │ │ │ │ ├── prop-base │ │ │ │ ├── ._test_compression.m.svn-base │ │ │ │ ├── ._test_compression_fixed.m.svn-base │ │ │ │ ├── ._test_constrained_delaunay.m.svn-base │ │ │ │ ├── ._test_diffusion_wavelets.m.svn-base │ │ │ │ ├── ._test_dijkstra.m.svn-base │ │ │ │ ├── ._test_dijkstra_astar.m.svn-base │ │ │ │ ├── ._test_drawing.m.svn-base │ │ │ │ ├── ._test_flattening.m.svn-base │ │ │ │ ├── ._test_grid_data.m.svn-base │ │ │ │ ├── ._test_laplacian_curve.m.svn-base │ │ │ │ ├── ._test_mesh_simplification.m.svn-base │ │ │ │ ├── ._test_mex.m.svn-base │ │ │ │ ├── ._test_parameterization.m.svn-base │ │ │ │ └── ._test_spectra.m.svn-base │ │ │ │ ├── text-base │ │ │ │ ├── ._test_compression.m.svn-base │ │ │ │ ├── ._test_compression_fixed.m.svn-base │ │ │ │ ├── ._test_constrained_delaunay.m.svn-base │ │ │ │ ├── ._test_curvature.m.svn-base │ │ │ │ ├── ._test_diffusion_wavelets.m.svn-base │ │ │ │ ├── ._test_dijkstra.m.svn-base │ │ │ │ ├── ._test_dijkstra_astar.m.svn-base │ │ │ │ ├── ._test_drawing.m.svn-base │ │ │ │ ├── ._test_duality.m.svn-base │ │ │ │ ├── ._test_face_reorientation.m.svn-base │ │ │ │ ├── ._test_filling_holes.m.svn-base │ │ │ │ ├── ._test_flattening.m.svn-base │ │ │ │ ├── ._test_free_boundary.m.svn-base │ │ │ │ ├── ._test_grid_data.m.svn-base │ │ │ │ ├── ._test_image_approx_refinement.m.svn-base │ │ │ │ ├── ._test_image_approx_thining.m.svn-base │ │ │ │ ├── ._test_laplacian_curve.m.svn-base │ │ │ │ ├── ._test_levelset_mesh.m.svn-base │ │ │ │ ├── ._test_lloyd.m.svn-base │ │ │ │ ├── ._test_mesh.m.svn-base │ │ │ │ ├── ._test_mesh_processing.m.svn-base │ │ │ │ ├── ._test_mesh_simplification.m.svn-base │ │ │ │ ├── ._test_mesh_smoothing.m.svn-base │ │ │ │ ├── ._test_mex.m.svn-base │ │ │ │ ├── ._test_parameterization.m.svn-base │ │ │ │ ├── ._test_spectra.m.svn-base │ │ │ │ ├── ._test_spherical_triangulation_drawing.m.svn-base │ │ │ │ ├── ._test_tets.m.svn-base │ │ │ │ └── ._test_wave_equation.m.svn-base │ │ │ │ └── tmp │ │ │ │ ├── ._prop-base │ │ │ │ ├── ._props │ │ │ │ ├── ._text-base │ │ │ │ └── ._wcprops │ │ │ └── toolbox │ │ │ ├── ._clamp.m │ │ │ ├── ._crop.m │ │ │ ├── ._getoptions.m │ │ │ ├── ._imageplot.m │ │ │ ├── ._isomap.m │ │ │ ├── ._load_curve.m │ │ │ ├── ._nb_dims.m │ │ │ ├── ._norme.m │ │ │ ├── ._perform_analysis_regularization.m │ │ │ ├── ._progressbar.m │ │ │ └── ._rescale.m │ ├── license.txt │ └── toolbox_graph │ │ ├── .DS_Store │ │ ├── adjacency2incidence.m │ │ ├── adjmatrix2list.m │ │ ├── batch_levelsets_meshes.m │ │ ├── build_euclidean_weight_matrix.m │ │ ├── build_graph_from_image.m │ │ ├── bunny.gim.jpg │ │ ├── check_face_vertex.m │ │ ├── check_incircle.m │ │ ├── check_incircle.m~ │ │ ├── check_incircle_edge.m │ │ ├── compile_mex.m │ │ ├── compute_boundary.m │ │ ├── compute_combinatorial_laplacian.m │ │ ├── compute_curvature.m │ │ ├── compute_delaunay.m │ │ ├── compute_diffusion_geometry.m │ │ ├── compute_diffusion_kernel.m │ │ ├── compute_distance_graph.m │ │ ├── compute_dual_graph.m │ │ ├── compute_edge_face_ring.m │ │ ├── compute_edges.m │ │ ├── compute_face_ring.m │ │ ├── compute_geometric_laplacian.m │ │ ├── compute_laplacian_curve.m │ │ ├── compute_levelset_mesh.m │ │ ├── compute_mesh_gradient.m │ │ ├── compute_mesh_laplacian.m │ │ ├── compute_mesh_local_covariance.m │ │ ├── compute_mesh_weight.m │ │ ├── compute_normal.m │ │ ├── compute_orthocenter.m │ │ ├── compute_orthoproj_triangulation.m │ │ ├── compute_orthoproj_triangulation.m~ │ │ ├── compute_parameterization.m │ │ ├── compute_rotation.m │ │ ├── compute_semidual_graph.m │ │ ├── compute_traveling_salesman.m │ │ ├── compute_triangulation_angles.m │ │ ├── compute_vertex_face_ring.m │ │ ├── compute_vertex_ring.m │ │ ├── compute_voronoi_mesh.m │ │ ├── content.m │ │ ├── convert_gim2mesh.m │ │ ├── griddata_arbitrary.m │ │ ├── griddata_arbitrary.m~ │ │ ├── html │ │ ├── content.html │ │ ├── content.png │ │ ├── content_01.png │ │ ├── content_02.png │ │ ├── content_03.png │ │ ├── content_04.png │ │ ├── content_05.png │ │ ├── content_06.png │ │ ├── content_07.png │ │ ├── content_08.png │ │ ├── content_09.png │ │ ├── content_10.png │ │ ├── content_11.png │ │ ├── content_12.png │ │ ├── gpeyre.xsl │ │ └── style.css │ │ ├── incidence2adjacency.m │ │ ├── load_gim.m │ │ ├── load_graph.m │ │ ├── mesh.exe │ │ ├── mesh_flip_faces.m │ │ ├── mesh_previewer.m │ │ ├── mesh_wrapper.m │ │ ├── metro.exe │ │ ├── metro_wrapper.m │ │ ├── mex │ │ ├── config.h │ │ ├── dijkstra.cpp │ │ ├── fheap │ │ │ ├── .svn │ │ │ │ ├── all-wcprops │ │ │ │ ├── entries │ │ │ │ ├── format │ │ │ │ ├── prop-base │ │ │ │ │ ├── fib.cpp.svn-base │ │ │ │ │ ├── fib.h.svn-base │ │ │ │ │ ├── fibpriv.h.svn-base │ │ │ │ │ ├── fibtest.c.svn-base │ │ │ │ │ ├── fibtest2.c.svn-base │ │ │ │ │ ├── tt.c.svn-base │ │ │ │ │ └── use.c.svn-base │ │ │ │ └── text-base │ │ │ │ │ ├── fib.cpp.svn-base │ │ │ │ │ ├── fib.h.svn-base │ │ │ │ │ ├── fibpriv.h.svn-base │ │ │ │ │ ├── fibtest.c.svn-base │ │ │ │ │ ├── fibtest2.c.svn-base │ │ │ │ │ ├── tt.c.svn-base │ │ │ │ │ └── use.c.svn-base │ │ │ ├── fib.cpp │ │ │ ├── fib.h │ │ │ ├── fibpriv.h │ │ │ ├── fibtest.c │ │ │ ├── fibtest2.c │ │ │ ├── tt.c │ │ │ └── use.c │ │ ├── fibheap.h │ │ ├── perform_dijkstra_propagation.cpp │ │ ├── perform_dijkstra_propagation.def │ │ ├── perform_dijkstra_propagation.vcproj │ │ └── toolbox_graph.sln │ │ ├── off │ │ ├── .svn │ │ │ ├── all-wcprops │ │ │ ├── entries │ │ │ ├── format │ │ │ ├── prop-base │ │ │ │ ├── beetle.off.svn-base │ │ │ │ ├── cube.off.svn-base │ │ │ │ ├── cube_oversampled.off.svn-base │ │ │ │ ├── cylinder.off.svn-base │ │ │ │ ├── elephant-50kv.off.svn-base │ │ │ │ ├── hhh.off.svn-base │ │ │ │ ├── hole_sphere1.off.svn-base │ │ │ │ ├── hole_sphere2.off.svn-base │ │ │ │ ├── hole_sphere3.off.svn-base │ │ │ │ ├── hole_sphere4.off.svn-base │ │ │ │ ├── hole_sphere5.off.svn-base │ │ │ │ ├── hole_sphere6.off.svn-base │ │ │ │ ├── hypersheet.off.svn-base │ │ │ │ ├── mannequin.off.svn-base │ │ │ │ ├── mushroom.off.svn-base │ │ │ │ ├── nefertiti-entire.off.svn-base │ │ │ │ ├── nefertiti.off.svn-base │ │ │ │ ├── pipes.off.svn-base │ │ │ │ ├── tre_twist.off.svn-base │ │ │ │ └── venus.off.svn-base │ │ │ └── text-base │ │ │ │ ├── beetle.off.svn-base │ │ │ │ ├── cube.off.svn-base │ │ │ │ ├── cube_oversampled.off.svn-base │ │ │ │ ├── cylinder.off.svn-base │ │ │ │ ├── elephant-50kv.off.svn-base │ │ │ │ ├── hhh.off.svn-base │ │ │ │ ├── hole_sphere1.off.svn-base │ │ │ │ ├── hole_sphere2.off.svn-base │ │ │ │ ├── hole_sphere3.off.svn-base │ │ │ │ ├── hole_sphere4.off.svn-base │ │ │ │ ├── hole_sphere5.off.svn-base │ │ │ │ ├── hole_sphere6.off.svn-base │ │ │ │ ├── hypersheet.off.svn-base │ │ │ │ ├── mannequin.off.svn-base │ │ │ │ ├── mushroom.off.svn-base │ │ │ │ ├── nefertiti-entire.off.svn-base │ │ │ │ ├── nefertiti.off.svn-base │ │ │ │ ├── pipes.off.svn-base │ │ │ │ ├── tre_twist.off.svn-base │ │ │ │ └── venus.off.svn-base │ │ ├── beetle.off │ │ ├── cube.off │ │ ├── cube_oversampled.off │ │ ├── cylinder.off │ │ ├── elephant-50kv.off │ │ ├── hhh.off │ │ ├── hole_sphere1.off │ │ ├── hole_sphere2.off │ │ ├── hole_sphere3.off │ │ ├── hole_sphere4.off │ │ ├── hole_sphere5.off │ │ ├── hole_sphere6.off │ │ ├── hypersheet.off │ │ ├── mannequin.off │ │ ├── mushroom.off │ │ ├── nefertiti-entire.off │ │ ├── nefertiti.off │ │ ├── pipes.off │ │ ├── tre_twist.off │ │ └── venus.off │ │ ├── pawn.wrl │ │ ├── perform_delaunay_flipping.m │ │ ├── perform_dijkstra.m │ │ ├── perform_dijkstra_fast.dll │ │ ├── perform_dijkstra_fast.mexmaci │ │ ├── perform_dijkstra_path_extraction.m │ │ ├── perform_dijkstra_propagation.dll │ │ ├── perform_dijkstra_propagation.m │ │ ├── perform_dijkstra_propagation.mexglx │ │ ├── perform_dijkstra_propagation.mexmaci │ │ ├── perform_dijkstra_propagation_old.m │ │ ├── perform_dijkstra_propagation_slow.m │ │ ├── perform_faces_reorientation.m │ │ ├── perform_floyd_algorithm.m │ │ ├── perform_lloyd_iteration.m │ │ ├── perform_mesh_heat_diffusion.m │ │ ├── perform_mesh_simplification.m │ │ ├── perform_mesh_smoothing.m │ │ ├── perform_normal_displacement.m │ │ ├── perform_point_picking.m │ │ ├── perform_saturation.m │ │ ├── perform_triangle_flipping.m │ │ ├── plot_dijkstra.m │ │ ├── plot_edges.m │ │ ├── plot_geometry_image.m │ │ ├── plot_graph.m │ │ ├── plot_mesh.m │ │ ├── plot_silouhette.m │ │ ├── plot_spherical_triangulation.m │ │ ├── progressive_mesh.m │ │ ├── publish_html.m │ │ ├── qslim.m │ │ ├── read_gim.m │ │ ├── read_mesh.m │ │ ├── read_mfile.m │ │ ├── read_obj.m │ │ ├── read_off.m │ │ ├── read_ply.m │ │ ├── read_smf.m │ │ ├── read_tet.m │ │ ├── read_vtk.m │ │ ├── read_wrl.m │ │ ├── reverse_orientation.m │ │ ├── select3d.m │ │ ├── tests │ │ ├── .svn │ │ │ ├── all-wcprops │ │ │ ├── entries │ │ │ ├── format │ │ │ ├── prop-base │ │ │ │ ├── test_compression.m.svn-base │ │ │ │ ├── test_compression_fixed.m.svn-base │ │ │ │ ├── test_constrained_delaunay.m.svn-base │ │ │ │ ├── test_diffusion_wavelets.m.svn-base │ │ │ │ ├── test_dijkstra.m.svn-base │ │ │ │ ├── test_dijkstra_astar.m.svn-base │ │ │ │ ├── test_drawing.m.svn-base │ │ │ │ ├── test_flattening.m.svn-base │ │ │ │ ├── test_grid_data.m.svn-base │ │ │ │ ├── test_laplacian_curve.m.svn-base │ │ │ │ ├── test_mesh_simplification.m.svn-base │ │ │ │ ├── test_mex.m.svn-base │ │ │ │ ├── test_parameterization.m.svn-base │ │ │ │ └── test_spectra.m.svn-base │ │ │ └── text-base │ │ │ │ ├── test_compression.m.svn-base │ │ │ │ ├── test_compression_fixed.m.svn-base │ │ │ │ ├── test_constrained_delaunay.m.svn-base │ │ │ │ ├── test_curvature.m.svn-base │ │ │ │ ├── test_diffusion_wavelets.m.svn-base │ │ │ │ ├── test_dijkstra.m.svn-base │ │ │ │ ├── test_dijkstra_astar.m.svn-base │ │ │ │ ├── test_drawing.m.svn-base │ │ │ │ ├── test_duality.m.svn-base │ │ │ │ ├── test_face_reorientation.m.svn-base │ │ │ │ ├── test_filling_holes.m.svn-base │ │ │ │ ├── test_flattening.m.svn-base │ │ │ │ ├── test_free_boundary.m.svn-base │ │ │ │ ├── test_grid_data.m.svn-base │ │ │ │ ├── test_image_approx_refinement.m.svn-base │ │ │ │ ├── test_image_approx_thining.m.svn-base │ │ │ │ ├── test_laplacian_curve.m.svn-base │ │ │ │ ├── test_levelset_mesh.m.svn-base │ │ │ │ ├── test_lloyd.m.svn-base │ │ │ │ ├── test_mesh.m.svn-base │ │ │ │ ├── test_mesh_processing.m.svn-base │ │ │ │ ├── test_mesh_simplification.m.svn-base │ │ │ │ ├── test_mesh_smoothing.m.svn-base │ │ │ │ ├── test_mex.m.svn-base │ │ │ │ ├── test_parameterization.m.svn-base │ │ │ │ ├── test_spectra.m.svn-base │ │ │ │ ├── test_spherical_triangulation_drawing.m.svn-base │ │ │ │ ├── test_tets.m.svn-base │ │ │ │ └── test_wave_equation.m.svn-base │ │ ├── test_compression.m │ │ ├── test_compression_fixed.m │ │ ├── test_constrained_delaunay.m │ │ ├── test_curvature.m │ │ ├── test_diffusion_wavelets.m │ │ ├── test_dijkstra.m │ │ ├── test_dijkstra_astar.m │ │ ├── test_drawing.m │ │ ├── test_duality.m │ │ ├── test_face_reorientation.m │ │ ├── test_filling_holes.m │ │ ├── test_flattening.m │ │ ├── test_free_boundary.m │ │ ├── test_grid_data.m │ │ ├── test_image_approx_refinement.m │ │ ├── test_image_approx_thining.m │ │ ├── test_laplacian_curve.m │ │ ├── test_levelset_mesh.m │ │ ├── test_lloyd.m │ │ ├── test_mesh.m │ │ ├── test_mesh_processing.m │ │ ├── test_mesh_simplification.m │ │ ├── test_mesh_smoothing.m │ │ ├── test_mex.m │ │ ├── test_parameterization.m │ │ ├── test_spectra.m │ │ ├── test_spherical_triangulation_drawing.m │ │ ├── test_tets.m │ │ └── test_wave_equation.m │ │ ├── tet2tri.m │ │ ├── toolbox │ │ ├── clamp.m │ │ ├── crop.m │ │ ├── getoptions.m │ │ ├── imageplot.m │ │ ├── isomap.m │ │ ├── load_curve.m │ │ ├── nb_dims.m │ │ ├── norme.m │ │ ├── perform_analysis_regularization.m │ │ ├── progressbar.m │ │ └── rescale.m │ │ ├── toolbox_graph.m │ │ ├── triangle.exe │ │ ├── triangulate.m │ │ ├── triangulation2adjacency.m │ │ ├── triangulation_isequal.m │ │ ├── write_gim.m │ │ ├── write_mesh.m │ │ ├── write_obj.m │ │ ├── write_off.m │ │ ├── write_ply.m │ │ ├── write_smf.m │ │ └── write_wrl.m ├── license (2).txt ├── license (3).txt ├── license (4).txt ├── license.txt ├── matlabmesh │ ├── _background │ │ └── analytic_lb.nb │ ├── config │ │ ├── cache │ │ │ └── _plotMeshGL_mesh_temp.obj │ │ └── globalConfig.m │ ├── data │ │ ├── 4bump.obj │ │ ├── armadilloman_tiny.obj │ │ ├── bump_mc.obj │ │ ├── bump_ref.obj │ │ ├── bunny.obj │ │ ├── bunny_bent.obj │ │ ├── bunnyhead1.obj │ │ ├── circle.obj │ │ ├── decimated64_T9_bp2percent.obj │ │ ├── dogface.obj │ │ ├── doghead.obj │ │ ├── doghead_basehole.obj │ │ ├── doghead_cut2.obj │ │ ├── flat_swissroll.obj │ │ ├── flats.obj │ │ ├── hemi_bumpy.obj │ │ ├── hemi_bumpy_lo.obj │ │ ├── hemicube.obj │ │ ├── hemicube_bent.obj │ │ ├── hemisphere_graphite_1000.obj │ │ ├── hemisphere_graphite_16000.obj │ │ ├── hemisphere_graphite_2000.obj │ │ ├── hemisphere_graphite_4000.obj │ │ ├── hemisphere_quadreg.obj │ │ ├── meshlabN_obj2pts.pl │ │ ├── nuHemi1.obj │ │ ├── patch.obj │ │ ├── patch2.obj │ │ ├── patch3.obj │ │ ├── plane.obj │ │ ├── plane_bent.obj │ │ ├── pointsets │ │ │ ├── decimate.pl │ │ │ ├── face_10k.pobj │ │ │ ├── face_10k_holes.pobj │ │ │ ├── face_10k_rest.pobj │ │ │ ├── face_40k.pobj │ │ │ ├── face_5k.pobj │ │ │ ├── face_5k_rest.pobj │ │ │ ├── gnome_13k.pobj │ │ │ ├── igea_11k.pobj │ │ │ ├── igea_33k.pobj │ │ │ ├── meshlabN_obj2pts.pl │ │ │ ├── pts2xyz.pl │ │ │ ├── surfel2pobj.pl │ │ │ ├── surfel2xyz.pl │ │ │ └── surfelmean.pl │ │ ├── pts2xyz.pl │ │ ├── saddle.obj │ │ ├── sphere.obj │ │ ├── sphere_graphite_1000.obj │ │ ├── sphere_graphite_2000.obj │ │ ├── sphere_graphite_300.obj │ │ ├── sphere_graphite_4000.obj │ │ ├── sphere_graphite_8000.obj │ │ ├── sphere_semireg_1000.obj │ │ ├── sphere_semireg_1500.obj │ │ ├── sphere_semireg_2000.obj │ │ ├── sphere_semireg_4000.obj │ │ ├── sphere_semireg_500.obj │ │ ├── square.obj │ │ ├── vertebra_top.obj │ │ ├── vertebra_top.pts │ │ ├── vertebra_top_N.obj │ │ └── vertebra_top_N.pts │ ├── deformation │ │ ├── TESTS │ │ │ ├── TESTS.m │ │ │ ├── test_deformLaplacian.m │ │ │ ├── test_deformPoisson.m │ │ │ └── test_deformRotInvCoords.m │ │ ├── deformLaplacian.m │ │ ├── deformPoisson.m │ │ ├── deformRotInvCoords.m │ │ ├── meshDeform_Laplacian.m │ │ ├── meshDeform_Lipman04.m │ │ └── poissonMesh_Yu04.m │ ├── drawing │ │ ├── TESTS.m │ │ ├── drawcircle.m │ │ ├── drawline.m │ │ ├── drawpoint.m │ │ └── drawpolyline.m │ ├── fairing │ │ ├── TESTS.m │ │ ├── fair_LBH.m │ │ ├── fair_LFlow.m │ │ └── fair_Laplacian.m │ ├── geometry2 │ │ ├── circle2_2pr.m │ │ ├── isect_line2_circle2.m │ │ └── turningNumber.m │ ├── geometry3 │ │ └── sphereNormCoords.m │ ├── implicit3 │ │ ├── implicitPlane.m │ │ ├── implicitSphere.m │ │ ├── test │ │ │ └── tpsTest.m │ │ └── thinPlateSpline.m │ ├── mesh │ │ ├── TESTS │ │ │ ├── test_halfedge.m │ │ │ └── test_onering.m │ │ ├── clipEars.m │ │ ├── cotanWeights.m │ │ ├── edgeStats.m │ │ ├── estimateNormal.m │ │ ├── faceArea.m │ │ ├── faceColors.m │ │ ├── faceNormal.m │ │ ├── findBoundaries.m │ │ ├── hs_err_pid7836.log │ │ ├── laplacian.m │ │ ├── makeMesh.m │ │ ├── makePointSet.m │ │ ├── meanCurv.m │ │ ├── meanvalueWeights.m │ │ ├── meshArea.m │ │ ├── meshHash.m │ │ ├── nearestVertex.m │ │ ├── onering.m │ │ ├── oneringf.m │ │ ├── oneringv.m │ │ ├── orientMesh.m │ │ ├── pickVertex.m │ │ ├── plotMesh.m │ │ ├── plotMeshGL.m │ │ ├── plotPoints.m │ │ ├── plotPolyline.m │ │ ├── pointArea.m │ │ ├── readMesh.m │ │ ├── readPoints.m │ │ ├── selectMesh.m │ │ ├── subMesh.m │ │ ├── vertexArea.m │ │ └── writeMesh.m │ ├── misc │ │ ├── EG09_WeightTests.m │ │ ├── EG10_LNLE.m │ │ ├── SGP09.m │ │ ├── SGP09_LBTests.m │ │ ├── SGP10.m │ │ ├── SGP10_expmap.m │ │ ├── SGP10_lb.m │ │ └── figures │ │ │ ├── EG10_EXPMAP_FIGURES.m │ │ │ ├── EG10_FIGURES.m │ │ │ ├── EG10_optDNCP.m │ │ │ ├── EG10_pointsets.m │ │ │ └── myjet.mat │ ├── parameterization │ │ ├── FnOptLaplacianScale.m │ │ ├── TESTS │ │ │ ├── test_DNCP.m │ │ │ ├── test_Isomap.m │ │ │ ├── test_LLEandLEM.m │ │ │ ├── test_MIPS.m │ │ │ ├── test_MVU.m │ │ │ ├── test_SCP.m │ │ │ ├── test_expmap.m │ │ │ ├── test_expmapWeights.m │ │ │ └── test_oneringWeights.m │ │ ├── contractBoundary.m │ │ ├── eConformal.m │ │ ├── embedBoundary.m │ │ ├── embedDNCP.m │ │ ├── embedInterior.m │ │ ├── embedLEM.m │ │ ├── embedLLE.m │ │ ├── embedMIPS.m │ │ ├── embedPSCP.m │ │ ├── embedSCP.m │ │ ├── expmap.m │ │ ├── external │ │ │ ├── HessianLLE.m │ │ │ ├── LEigenmaps.m │ │ │ ├── csdp.exe │ │ │ ├── expmapCL │ │ │ │ ├── Wm4Foundation80.dll │ │ │ │ ├── expmapCL.exe │ │ │ │ ├── expmapCL.exe.intermediate.manifest │ │ │ │ ├── glut32.dll │ │ │ │ └── view3D.exe │ │ │ ├── isomap │ │ │ │ ├── Isomap.m │ │ │ │ ├── IsomapII.m │ │ │ │ ├── Isomap_L2_distance.m │ │ │ │ ├── Isomap_dfun.m │ │ │ │ └── Readme │ │ │ ├── lle.m │ │ │ ├── ltsa.m │ │ │ ├── mani.m │ │ │ └── mvu │ │ │ │ ├── csdp.exe │ │ │ │ ├── mvu.m │ │ │ │ ├── mvu_csdp.m │ │ │ │ ├── mvu_distance.m │ │ │ │ ├── mvu_readsol.m │ │ │ │ └── mvu_writesdpa.m │ │ ├── faceDistortion.m │ │ ├── fastExpMaps.m │ │ ├── makeEpsBallWeights.m │ │ ├── makeExpMapWeights.m │ │ ├── makeKNbrWeights.m │ │ ├── makeOneRingWeights.m │ │ ├── meshDistortion.m │ │ ├── oneringExpMap.m │ │ ├── triDistortion.m │ │ └── triStretch.m │ └── util │ │ ├── angledist.m │ │ ├── argN.m │ │ ├── axisrot.m │ │ ├── cart2sphM.m │ │ ├── cart2sphY.m │ │ ├── clamp.m │ │ ├── cross2.m │ │ ├── errnorm.m │ │ ├── external │ │ ├── dijkstra │ │ │ ├── dijk.m │ │ │ ├── dijkstra.cpp │ │ │ ├── dijkstra.m │ │ │ ├── dijkstra.mexw32 │ │ │ ├── dijkstra.mexw64 │ │ │ ├── dijkstra_maxdist.cpp │ │ │ ├── dijkstra_maxdist.mexw32 │ │ │ ├── dijkstra_maxdist.mexw64 │ │ │ ├── dijkstra_test.m │ │ │ └── fibheap.h │ │ ├── export_fig │ │ │ ├── eps2pdf.m │ │ │ ├── export_fig.m │ │ │ ├── fix_lines.m │ │ │ ├── pdf2eps.m │ │ │ ├── print2array.m │ │ │ ├── print2eps.m │ │ │ └── private │ │ │ │ ├── ghostscript.m │ │ │ │ └── pdftops.m │ │ ├── minimize.m │ │ └── myaa │ │ │ ├── copying │ │ │ ├── copyright │ │ │ ├── myaa.m │ │ │ ├── screenshot.jpg │ │ │ └── screenshot.png │ │ ├── findKNN.m │ │ ├── genpoints.m │ │ ├── hardConstrain.m │ │ ├── hardConstrainSolve.m │ │ ├── issymmetric.m │ │ ├── mvmul.m │ │ ├── ncross.m │ │ ├── ngrad.m │ │ ├── normalize.m │ │ ├── perpdot.m │ │ ├── softConstrain.m │ │ ├── sph2cartY.m │ │ ├── tangentFrame.m │ │ ├── triarea.m │ │ ├── triarea2s.m │ │ ├── trigrad.m │ │ ├── trinormal.m │ │ ├── triobtuse.m │ │ ├── tripick.m │ │ ├── tripick2.m │ │ ├── vadd.m │ │ ├── valign.m │ │ ├── vangle.m │ │ ├── vcot.m │ │ ├── vdot.m │ │ ├── vmag.m │ │ ├── vmag2.m │ │ └── vmul.m ├── normAngle.m ├── opcodemesh │ ├── README.txt │ ├── matlab │ │ ├── deer_bound.obj │ │ ├── laser_env_map.obj │ │ ├── obstacle_map_temp.obj │ │ ├── opcodemesh.m │ │ ├── opcodemeshdemo.m │ │ ├── opcodemeshmex.mexw32 │ │ ├── patch_display.m │ │ ├── read_obj.m │ │ └── temp_laserp_simulator.m │ ├── opcode │ │ ├── Ice │ │ │ ├── IceAABB.cpp │ │ │ ├── IceAABB.h │ │ │ ├── IceAxes.h │ │ │ ├── IceBoundingSphere.h │ │ │ ├── IceContainer.cpp │ │ │ ├── IceContainer.h │ │ │ ├── IceFPU.h │ │ │ ├── IceHPoint.cpp │ │ │ ├── IceHPoint.h │ │ │ ├── IceIndexedTriangle.cpp │ │ │ ├── IceIndexedTriangle.h │ │ │ ├── IceLSS.h │ │ │ ├── IceMatrix3x3.cpp │ │ │ ├── IceMatrix3x3.h │ │ │ ├── IceMatrix4x4.cpp │ │ │ ├── IceMatrix4x4.h │ │ │ ├── IceMemoryMacros.h │ │ │ ├── IceOBB.cpp │ │ │ ├── IceOBB.h │ │ │ ├── IcePairs.h │ │ │ ├── IcePlane.cpp │ │ │ ├── IcePlane.h │ │ │ ├── IcePoint.cpp │ │ │ ├── IcePoint.h │ │ │ ├── IcePreprocessor.h │ │ │ ├── IceRandom.cpp │ │ │ ├── IceRandom.h │ │ │ ├── IceRay.cpp │ │ │ ├── IceRay.h │ │ │ ├── IceRevisitedRadix.cpp │ │ │ ├── IceRevisitedRadix.h │ │ │ ├── IceSegment.cpp │ │ │ ├── IceSegment.h │ │ │ ├── IceTriList.h │ │ │ ├── IceTriangle.cpp │ │ │ ├── IceTriangle.h │ │ │ ├── IceTypes.h │ │ │ ├── IceUtils.cpp │ │ │ └── IceUtils.h │ │ ├── OPC_AABBCollider.cpp │ │ ├── OPC_AABBCollider.h │ │ ├── OPC_AABBTree.cpp │ │ ├── OPC_AABBTree.h │ │ ├── OPC_BaseModel.cpp │ │ ├── OPC_BaseModel.h │ │ ├── OPC_BoxBoxOverlap.h │ │ ├── OPC_BoxPruning.cpp │ │ ├── OPC_BoxPruning.h │ │ ├── OPC_Collider.cpp │ │ ├── OPC_Collider.h │ │ ├── OPC_Common.cpp │ │ ├── OPC_Common.h │ │ ├── OPC_HybridModel.cpp │ │ ├── OPC_HybridModel.h │ │ ├── OPC_IceHook.h │ │ ├── OPC_LSSAABBOverlap.h │ │ ├── OPC_LSSCollider.cpp │ │ ├── OPC_LSSCollider.h │ │ ├── OPC_LSSTriOverlap.h │ │ ├── OPC_MeshInterface.cpp │ │ ├── OPC_MeshInterface.h │ │ ├── OPC_Model.cpp │ │ ├── OPC_Model.h │ │ ├── OPC_OBBCollider.cpp │ │ ├── OPC_OBBCollider.h │ │ ├── OPC_OptimizedTree.cpp │ │ ├── OPC_OptimizedTree.h │ │ ├── OPC_Picking.cpp │ │ ├── OPC_Picking.h │ │ ├── OPC_PlanesAABBOverlap.h │ │ ├── OPC_PlanesCollider.cpp │ │ ├── OPC_PlanesCollider.h │ │ ├── OPC_PlanesTriOverlap.h │ │ ├── OPC_RayAABBOverlap.h │ │ ├── OPC_RayCollider.cpp │ │ ├── OPC_RayCollider.h │ │ ├── OPC_RayTriOverlap.h │ │ ├── OPC_Settings.h │ │ ├── OPC_SphereAABBOverlap.h │ │ ├── OPC_SphereCollider.cpp │ │ ├── OPC_SphereCollider.h │ │ ├── OPC_SphereTriOverlap.h │ │ ├── OPC_SweepAndPrune.cpp │ │ ├── OPC_SweepAndPrune.h │ │ ├── OPC_TreeBuilders.cpp │ │ ├── OPC_TreeBuilders.h │ │ ├── OPC_TreeCollider.cpp │ │ ├── OPC_TreeCollider.h │ │ ├── OPC_TriBoxOverlap.h │ │ ├── OPC_TriTriOverlap.h │ │ ├── OPC_TriTriOverlapGilvan.h │ │ ├── OPC_VolumeCollider.cpp │ │ ├── OPC_VolumeCollider.h │ │ ├── Opcode.cpp │ │ ├── Opcode.h │ │ ├── ReadMe.txt │ │ ├── StdAfx.cpp │ │ ├── Stdafx.h │ │ ├── TemporalCoherence.txt │ │ └── scales TODO.txt │ └── src_matlab │ │ ├── backup │ │ └── opcodemeshmex_backup.cpp │ │ ├── class_handle.hpp │ │ ├── mexall.m │ │ ├── opcodemeshmex.cpp │ │ └── opcodemeshmex.mexw32 └── rvctools │ ├── common │ ├── PGraph.m │ ├── Polygon.m │ ├── about.m │ ├── angdiff.m │ ├── bresenham.m │ ├── circle.m │ ├── colnorm.m │ ├── diff2.m │ ├── distributeblocks.m │ ├── doesblockexist.m │ ├── e2h.m │ ├── edgelist.m │ ├── gauss2d.m │ ├── h2e.m │ ├── homline.m │ ├── homtrans.m │ ├── ishomog.m │ ├── isrot.m │ ├── isvec.m │ ├── multidfprintf.m │ ├── numcols.m │ ├── numrows.m │ ├── peak.m │ ├── peak2.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_sphere.m │ ├── plotp.m │ ├── polydiff.m │ ├── randinit.m │ ├── runscript.m │ ├── simulinkext.m │ ├── symexpr2slblock.m │ ├── tb_optparse.m │ ├── xaxis.m │ ├── xyzlabel.m │ └── yaxis.m │ ├── robot │ ├── @CodeGenerator │ │ ├── .CodeGenerator.m.swp │ │ ├── .gencoriolis.m.swp │ │ ├── .svn │ │ │ ├── all-wcprops │ │ │ ├── dir-prop-base │ │ │ ├── entries │ │ │ ├── prop-base │ │ │ │ └── CodeGenerator.m.svn-base │ │ │ ├── text-base │ │ │ │ ├── CodeGenerator.m.svn-base │ │ │ │ ├── gencoriolis.m.svn-base │ │ │ │ ├── genfdyn.m.svn-base │ │ │ │ ├── genfkine.m.svn-base │ │ │ │ ├── genfriction.m.svn-base │ │ │ │ ├── gengravload.m.svn-base │ │ │ │ ├── geninertia.m.svn-base │ │ │ │ ├── geninvdyn.m.svn-base │ │ │ │ ├── genjacobian.m.svn-base │ │ │ │ ├── genmfuncoriolis.m.svn-base │ │ │ │ ├── genmfunfdyn.m.svn-base │ │ │ │ ├── genmfunfkine.m.svn-base │ │ │ │ ├── genmfunfriction.m.svn-base │ │ │ │ ├── genmfungravload.m.svn-base │ │ │ │ ├── genmfuninertia.m.svn-base │ │ │ │ ├── genmfuninvdyn.m.svn-base │ │ │ │ ├── genmfunjacobian.m.svn-base │ │ │ │ ├── genslblockcoriolis.m.svn-base │ │ │ │ ├── genslblockfdyn.m.svn-base │ │ │ │ ├── genslblockfkine.m.svn-base │ │ │ │ ├── genslblockfriction.m.svn-base │ │ │ │ ├── genslblockgravload.m.svn-base │ │ │ │ ├── genslblockinertia.m.svn-base │ │ │ │ ├── genslblockinvdyn.m.svn-base │ │ │ │ ├── genslblockjacobian.m.svn-base │ │ │ │ └── logmsg.m.svn-base │ │ │ └── tmp │ │ │ │ ├── CodeGenerator.m.tmp │ │ │ │ ├── gencoriolis.m.tmp │ │ │ │ ├── genfdyn.m.tmp │ │ │ │ ├── genfkine.m.tmp │ │ │ │ └── genfriction.m.tmp │ │ ├── CodeGenerator.m │ │ ├── gencoriolis.m │ │ ├── genfdyn.m │ │ ├── genfkine.m │ │ ├── genfriction.m │ │ ├── gengravload.m │ │ ├── geninertia.m │ │ ├── geninvdyn.m │ │ ├── genjacobian.m │ │ ├── genmfuncoriolis.m │ │ ├── genmfunfdyn.m │ │ ├── genmfunfkine.m │ │ ├── genmfunfriction.m │ │ ├── genmfungravload.m │ │ ├── genmfuninertia.m │ │ ├── genmfuninvdyn.m │ │ ├── genmfunjacobian.m │ │ ├── genslblockcoriolis.m │ │ ├── genslblockfdyn.m │ │ ├── genslblockfkine.m │ │ ├── genslblockfriction.m │ │ ├── genslblockgravload.m │ │ ├── genslblockinertia.m │ │ ├── genslblockinvdyn.m │ │ ├── genslblockjacobian.m │ │ ├── logmsg.m │ │ └── private │ │ │ ├── .svn │ │ │ ├── all-wcprops │ │ │ ├── entries │ │ │ └── text-base │ │ │ │ ├── constructheaderstring.m.svn-base │ │ │ │ ├── createmconstructor.m.svn-base │ │ │ │ ├── createnewblocklibrary.m.svn-base │ │ │ │ ├── ffindreplace.m.svn-base │ │ │ │ ├── finsertfront.m.svn-base │ │ │ │ ├── generatecopyrightnote.m.svn-base │ │ │ │ ├── getpibugfixstring.m.svn-base │ │ │ │ └── replaceheader.m.svn-base │ │ │ ├── constructheaderstring.m │ │ │ ├── createmconstructor.m │ │ │ ├── createnewblocklibrary.m │ │ │ ├── ffindreplace.m │ │ │ ├── finsertfront.m │ │ │ ├── generatecopyrightnote.m │ │ │ ├── getpibugfixstring.m │ │ │ └── replaceheader.m │ ├── @SerialLink │ │ ├── .svn │ │ │ ├── all-wcprops │ │ │ ├── entries │ │ │ ├── text-base │ │ │ │ ├── SerialLink.m.svn-base │ │ │ │ ├── accel.m.svn-base │ │ │ │ ├── animate.m.svn-base │ │ │ │ ├── cinertia.m.svn-base │ │ │ │ ├── coriolis.m.svn-base │ │ │ │ ├── fdyn.m.svn-base │ │ │ │ ├── fkine.m.svn-base │ │ │ │ ├── friction.m.svn-base │ │ │ │ ├── gencoords.m.svn-base │ │ │ │ ├── genforces.m.svn-base │ │ │ │ ├── gravload.m.svn-base │ │ │ │ ├── ikine.m.svn-base │ │ │ │ ├── ikine3.m.svn-base │ │ │ │ ├── ikine6s.m.svn-base │ │ │ │ ├── inertia.m.svn-base │ │ │ │ ├── issym.m.svn-base │ │ │ │ ├── itorque.m.svn-base │ │ │ │ ├── jacob0.m.svn-base │ │ │ │ ├── jacob_dot.m.svn-base │ │ │ │ ├── jacobn.m.svn-base │ │ │ │ ├── maniplty.m.svn-base │ │ │ │ ├── nofriction.m.svn-base │ │ │ │ ├── perturb.m.svn-base │ │ │ │ ├── plot.m.svn-base │ │ │ │ ├── rne.m.svn-base │ │ │ │ ├── rne_dh.m.svn-base │ │ │ │ ├── rne_mdh.m.svn-base │ │ │ │ └── teach.m.svn-base │ │ │ └── tmp │ │ │ │ └── rne_dh.m.tmp │ │ ├── SerialLink.m │ │ ├── accel.m │ │ ├── animate.m │ │ ├── cinertia.m │ │ ├── coriolis.m │ │ ├── createBlockCGJacobianDH.m │ │ ├── createBlockDirKinematicDH.m │ │ ├── createBlockJacobianDH.m │ │ ├── createCGJacobianDH.m │ │ ├── createDirKinematicDH.m │ │ ├── createGenAccelerations.m │ │ ├── createGenCoordinates.m │ │ ├── createGenForces.m │ │ ├── createGenVelocities.m │ │ ├── createJacobianDH.m │ │ ├── fdyn.m │ │ ├── fkine.m │ │ ├── friction.m │ │ ├── frne.mexmaci64 │ │ ├── frne.mexw32 │ │ ├── gencoords.m │ │ ├── genforces.m │ │ ├── gravload.m │ │ ├── ikine.m │ │ ├── ikine3.m │ │ ├── ikine6s.m │ │ ├── inertia.m │ │ ├── issym.m │ │ ├── itorque.m │ │ ├── jacob0.m │ │ ├── jacob_dot.m │ │ ├── jacobn.m │ │ ├── maniplty.m │ │ ├── nofriction.m │ │ ├── perturb.m │ │ ├── plot.m │ │ ├── private │ │ │ ├── .svn │ │ │ │ ├── all-wcprops │ │ │ │ ├── entries │ │ │ │ └── text-base │ │ │ │ │ └── findjobj.m.svn-base │ │ │ └── findjobj.m │ │ ├── rne.m │ │ ├── rne.mexmaci64 │ │ ├── rne.mexw32 │ │ ├── rne_dh.m │ │ ├── rne_mdh.m │ │ ├── slink.m │ │ └── teach.m │ ├── Bug2.m │ ├── CHANGES │ ├── CITATION │ ├── CONTRIB │ ├── Contents.m │ ├── DH.jar │ ├── DHFactor.java │ ├── DHFactor.m │ ├── DXform.m │ ├── Dstar.m │ ├── EKF.m │ ├── Link.m │ ├── Map.m │ ├── Navigation.m │ ├── Octave │ │ ├── .svn │ │ │ ├── all-wcprops │ │ │ ├── entries │ │ │ └── text-base │ │ │ │ └── README.txt.svn-base │ │ ├── @Link │ │ │ ├── .svn │ │ │ │ ├── all-wcprops │ │ │ │ ├── entries │ │ │ │ └── text-base │ │ │ │ │ ├── Link.m.svn-base │ │ │ │ │ ├── RP.m.svn-base │ │ │ │ │ ├── char.m.svn-base │ │ │ │ │ ├── display.m.svn-base │ │ │ │ │ ├── friction.m.svn-base │ │ │ │ │ ├── nofriction.m.svn-base │ │ │ │ │ ├── show.m.svn-base │ │ │ │ │ ├── sigma.m.svn-base │ │ │ │ │ ├── subsasgn.m.svn-base │ │ │ │ │ └── subsref.m.svn-base │ │ │ ├── Link.m │ │ │ ├── RP.m │ │ │ ├── char.m │ │ │ ├── display.m │ │ │ ├── friction.m │ │ │ ├── nofriction.m │ │ │ ├── show.m │ │ │ ├── sigma.m │ │ │ ├── subsasgn.m │ │ │ └── subsref.m │ │ ├── @Quaternion │ │ │ ├── .svn │ │ │ │ ├── all-wcprops │ │ │ │ ├── entries │ │ │ │ └── text-base │ │ │ │ │ ├── Quaternion.m.svn-base │ │ │ │ │ ├── char.m.svn-base │ │ │ │ │ ├── display.m.svn-base │ │ │ │ │ ├── dot.m.svn-base │ │ │ │ │ ├── double.m.svn-base │ │ │ │ │ ├── interp.m.svn-base │ │ │ │ │ ├── inv.m.svn-base │ │ │ │ │ ├── minus.m.svn-base │ │ │ │ │ ├── mpower.m.svn-base │ │ │ │ │ ├── mrdivide.m.svn-base │ │ │ │ │ ├── mtimes.m.svn-base │ │ │ │ │ ├── norm.m.svn-base │ │ │ │ │ ├── plot.m.svn-base │ │ │ │ │ ├── plus.m.svn-base │ │ │ │ │ ├── q2tr.m.svn-base │ │ │ │ │ ├── qinterp.m.svn-base │ │ │ │ │ ├── scale.m.svn-base │ │ │ │ │ ├── subsref.m.svn-base │ │ │ │ │ └── unit.m.svn-base │ │ │ ├── Quaternion.m │ │ │ ├── char.m │ │ │ ├── display.m │ │ │ ├── dot.m │ │ │ ├── double.m │ │ │ ├── interp.m │ │ │ ├── inv.m │ │ │ ├── minus.m │ │ │ ├── mpower.m │ │ │ ├── mrdivide.m │ │ │ ├── mtimes.m │ │ │ ├── norm.m │ │ │ ├── plot.m │ │ │ ├── plus.m │ │ │ ├── q2tr.m │ │ │ ├── qinterp.m │ │ │ ├── scale.m │ │ │ ├── subsref.m │ │ │ └── unit.m │ │ └── @SerialLink │ │ │ ├── .svn │ │ │ ├── all-wcprops │ │ │ ├── entries │ │ │ └── text-base │ │ │ │ ├── SerialLink.m.svn-base │ │ │ │ ├── accel.m.svn-base │ │ │ │ ├── char.m.svn-base │ │ │ │ ├── cinertia.m.svn-base │ │ │ │ ├── coriolis.m.svn-base │ │ │ │ ├── display.m.svn-base │ │ │ │ ├── dyn.m.svn-base │ │ │ │ ├── fdyn.m.svn-base │ │ │ │ ├── fkine.m.svn-base │ │ │ │ ├── friction.m.svn-base │ │ │ │ ├── gravload.m.svn-base │ │ │ │ ├── ikine.m.svn-base │ │ │ │ ├── ikine6s.m.svn-base │ │ │ │ ├── inertia.m.svn-base │ │ │ │ ├── islimit.m.svn-base │ │ │ │ ├── isspherical.m.svn-base │ │ │ │ ├── itorque.m.svn-base │ │ │ │ ├── jacob0.m.svn-base │ │ │ │ ├── jacob_dot.m.svn-base │ │ │ │ ├── jacobn.m.svn-base │ │ │ │ ├── jtraj.m.svn-base │ │ │ │ ├── maniplty.m.svn-base │ │ │ │ ├── mtimes.m.svn-base │ │ │ │ ├── nofriction.m.svn-base │ │ │ │ ├── perturb.m.svn-base │ │ │ │ ├── plot.m.svn-base │ │ │ │ ├── rne.m.svn-base │ │ │ │ ├── rne_dh.m.svn-base │ │ │ │ ├── rne_mdh.m.svn-base │ │ │ │ ├── showlink.m.svn-base │ │ │ │ ├── subsasgn.m.svn-base │ │ │ │ ├── subsref.m.svn-base │ │ │ │ └── teach.m.svn-base │ │ │ ├── SerialLink.m │ │ │ ├── accel.m │ │ │ ├── char.m │ │ │ ├── cinertia.m │ │ │ ├── coriolis.m │ │ │ ├── display.m │ │ │ ├── dyn.m │ │ │ ├── fdyn.m │ │ │ ├── fkine.m │ │ │ ├── friction.m │ │ │ ├── gravload.m │ │ │ ├── ikine.m │ │ │ ├── ikine6s.m │ │ │ ├── inertia.m │ │ │ ├── islimit.m │ │ │ ├── isspherical.m │ │ │ ├── itorque.m │ │ │ ├── jacob0.m │ │ │ ├── jacob_dot.m │ │ │ ├── jacobn.m │ │ │ ├── jtraj.m │ │ │ ├── maniplty.m │ │ │ ├── mtimes.m │ │ │ ├── nofriction.m │ │ │ ├── perturb.m │ │ │ ├── plot.m │ │ │ ├── rne.m │ │ │ ├── rne_dh.m │ │ │ ├── rne_mdh.m │ │ │ ├── showlink.m │ │ │ ├── subsasgn.m │ │ │ ├── subsref.m │ │ │ └── teach.m │ ├── PRM.m │ ├── ParticleFilter.m │ ├── Prismatic.m │ ├── Quaternion.m │ ├── README │ ├── RELEASE │ ├── RRT.m │ ├── RandomPath.m │ ├── RangeBearingSensor.m │ ├── Revolute.m │ ├── Sensor.m │ ├── Vehicle.m │ ├── angvec2r.m │ ├── angvec2tr.m │ ├── ctraj.m │ ├── delta2tr.m │ ├── demos │ │ ├── .svn │ │ │ ├── all-wcprops │ │ │ ├── entries │ │ │ ├── text-base │ │ │ │ ├── animate.m.svn-base │ │ │ │ ├── braitnav.m.svn-base │ │ │ │ ├── bugnav.m.svn-base │ │ │ │ ├── codegen.m.svn-base │ │ │ │ ├── demos.xml.svn-base │ │ │ │ ├── drivepose.m.svn-base │ │ │ │ ├── dstarnav.m.svn-base │ │ │ │ ├── fdyn.m.svn-base │ │ │ │ ├── fkine.m.svn-base │ │ │ │ ├── graphics.m.svn-base │ │ │ │ ├── idyn.m.svn-base │ │ │ │ ├── ikine.m.svn-base │ │ │ │ ├── jacob.m.svn-base │ │ │ │ ├── particlefilt.m.svn-base │ │ │ │ ├── prmnav.m.svn-base │ │ │ │ ├── quadrotor.m.svn-base │ │ │ │ ├── robot.m.svn-base │ │ │ │ ├── rotation.m.svn-base │ │ │ │ ├── rtb_demo_animate.m.svn-base │ │ │ │ ├── rtb_demo_fdyn.m.svn-base │ │ │ │ ├── rtb_demo_fkine.m.svn-base │ │ │ │ ├── rtb_demo_idyn.m.svn-base │ │ │ │ ├── rtb_demo_ikine.m.svn-base │ │ │ │ ├── rtb_demo_jacob.m.svn-base │ │ │ │ ├── rtb_demo_tr.m.svn-base │ │ │ │ ├── rtb_demo_traj.m.svn-base │ │ │ │ ├── slam.m.svn-base │ │ │ │ ├── symbolic.m.svn-base │ │ │ │ ├── traj.m.svn-base │ │ │ │ ├── trans.m.svn-base │ │ │ │ └── ztorque.m.svn-base │ │ │ └── tmp │ │ │ │ └── demos.xml.tmp │ │ ├── .ztorque.m.swp │ │ ├── README │ │ ├── TODO │ │ ├── braitnav.m │ │ ├── bugnav.m │ │ ├── codegen.m │ │ ├── demos.xml │ │ ├── drivepose.m │ │ ├── dstarnav.m │ │ ├── fdyn.m │ │ ├── fkine.m │ │ ├── graphics.m │ │ ├── idyn.m │ │ ├── ikine.m │ │ ├── jacob.m │ │ ├── particlefilt.m │ │ ├── prmnav.m │ │ ├── quadrotor.m │ │ ├── robot.m │ │ ├── rotation.m │ │ ├── slam.m │ │ ├── symbolic.m │ │ ├── traj.m │ │ ├── trans.m │ │ └── ztorque.m │ ├── distancexform.m │ ├── eul2jac.m │ ├── eul2r.m │ ├── eul2tr.m │ ├── examples │ │ ├── .svn │ │ │ ├── all-wcprops │ │ │ ├── entries │ │ │ ├── prop-base │ │ │ │ └── map1.mat.svn-base │ │ │ └── text-base │ │ │ │ ├── braitenberg.m.svn-base │ │ │ │ ├── eg_grav.m.svn-base │ │ │ │ ├── eg_inertia.m.svn-base │ │ │ │ ├── eg_inertia22.m.svn-base │ │ │ │ ├── gait.m.svn-base │ │ │ │ ├── map1.mat.svn-base │ │ │ │ ├── moveline.m.svn-base │ │ │ │ ├── movepoint.m.svn-base │ │ │ │ ├── movepose.m.svn-base │ │ │ │ ├── sensorfield.m.svn-base │ │ │ │ └── walking.m.svn-base │ │ ├── braitenberg.m │ │ ├── eg_grav.m │ │ ├── eg_inertia.m │ │ ├── eg_inertia22.m │ │ ├── gait.m │ │ ├── map1.mat │ │ ├── moveline.m │ │ ├── movepoint.m │ │ ├── movepose.m │ │ ├── sensorfield.m │ │ └── walking.m │ ├── info.xml │ ├── info │ │ ├── acknowledgements.html │ │ ├── contents.html │ │ ├── contents_alpha.html │ │ ├── contents_toc.html │ │ ├── helpfuncbycat.xml │ │ ├── helptoc.xml │ │ ├── html │ │ │ ├── Bug2.html │ │ │ ├── CodeGenerator.html │ │ │ ├── DHFactor.html │ │ │ ├── DXform.html │ │ │ ├── Dstar.html │ │ │ ├── EKF.html │ │ │ ├── Link.html │ │ │ ├── Map.html │ │ │ ├── Navigation.html │ │ │ ├── PGraph.html │ │ │ ├── PRM.html │ │ │ ├── ParticleFilter.html │ │ │ ├── Polygon.html │ │ │ ├── Prismatic.html │ │ │ ├── Quaternion.html │ │ │ ├── RRT.html │ │ │ ├── RandomPath.html │ │ │ ├── RangeBearingSensor.html │ │ │ ├── Revolute.html │ │ │ ├── Sensor.html │ │ │ ├── SerialLink.html │ │ │ ├── Vehicle.html │ │ │ ├── about.html │ │ │ ├── angdiff.html │ │ │ ├── angvec2r.html │ │ │ ├── angvec2tr.html │ │ │ ├── bresenham.html │ │ │ ├── circle.html │ │ │ ├── colnorm.html │ │ │ ├── ctraj.html │ │ │ ├── delta2tr.html │ │ │ ├── diff2.html │ │ │ ├── distancexform.html │ │ │ ├── distributeblocks.html │ │ │ ├── doesblockexist.html │ │ │ ├── e2h.html │ │ │ ├── edgelist.html │ │ │ ├── eul2jac.html │ │ │ ├── eul2r.html │ │ │ ├── eul2tr.html │ │ │ ├── gauss2d.html │ │ │ ├── h2e.html │ │ │ ├── homline.html │ │ │ ├── homtrans.html │ │ │ ├── ishomog.html │ │ │ ├── isrot.html │ │ │ ├── isvec.html │ │ │ ├── jtraj.html │ │ │ ├── lspb.html │ │ │ ├── makemap.html │ │ │ ├── mdl_Fanuc10L.html │ │ │ ├── mdl_MotomanHP6.html │ │ │ ├── mdl_S4ABB2p8.html │ │ │ ├── mdl_ball.html │ │ │ ├── mdl_coil.html │ │ │ ├── mdl_p8.html │ │ │ ├── mdl_phantomx.html │ │ │ ├── mdl_puma560.html │ │ │ ├── mdl_puma560_3.html │ │ │ ├── mdl_puma560_3_sym.html │ │ │ ├── mdl_puma560akb.html │ │ │ ├── mdl_quadcopter.html │ │ │ ├── mdl_stanford.html │ │ │ ├── mdl_twolink.html │ │ │ ├── mstraj.html │ │ │ ├── mtraj.html │ │ │ ├── multidfprintf.html │ │ │ ├── numcols.html │ │ │ ├── numrows.html │ │ │ ├── oa2r.html │ │ │ ├── oa2tr.html │ │ │ ├── peak.html │ │ │ ├── peak2.html │ │ │ ├── plot2.html │ │ │ ├── plot_arrow.html │ │ │ ├── plot_box.html │ │ │ ├── plot_circle.html │ │ │ ├── plot_ellipse.html │ │ │ ├── plot_homline.html │ │ │ ├── plot_point.html │ │ │ ├── plot_poly.html │ │ │ ├── plot_sphere.html │ │ │ ├── plot_vehicle.html │ │ │ ├── plotbotopt.html │ │ │ ├── plotp.html │ │ │ ├── polydiff.html │ │ │ ├── qplot.html │ │ │ ├── r2t.html │ │ │ ├── randinit.html │ │ │ ├── rotx.html │ │ │ ├── roty.html │ │ │ ├── rotz.html │ │ │ ├── rpy2jac.html │ │ │ ├── rpy2r.html │ │ │ ├── rpy2tr.html │ │ │ ├── rt2tr.html │ │ │ ├── rtbdemo.html │ │ │ ├── runscript.html │ │ │ ├── se2.html │ │ │ ├── simulinkext.html │ │ │ ├── skew.html │ │ │ ├── startup_rtb.html │ │ │ ├── symexpr2slblock.html │ │ │ ├── t2r.html │ │ │ ├── tb_optparse.html │ │ │ ├── tpoly.html │ │ │ ├── tr2angvec.html │ │ │ ├── tr2delta.html │ │ │ ├── tr2eul.html │ │ │ ├── tr2jac.html │ │ │ ├── tr2rpy.html │ │ │ ├── tr2rt.html │ │ │ ├── tranimate.html │ │ │ ├── transl.html │ │ │ ├── trinterp.html │ │ │ ├── tripleangle.html │ │ │ ├── trnorm.html │ │ │ ├── trotx.html │ │ │ ├── troty.html │ │ │ ├── trotz.html │ │ │ ├── trplot.html │ │ │ ├── trplot2.html │ │ │ ├── trprint.html │ │ │ ├── unit.html │ │ │ ├── vex.html │ │ │ ├── wtrans.html │ │ │ ├── xaxis.html │ │ │ ├── xyzlabel.html │ │ │ └── yaxis.html │ │ ├── icons │ │ │ ├── .svn │ │ │ │ ├── all-wcprops │ │ │ │ ├── entries │ │ │ │ ├── prop-base │ │ │ │ │ ├── bullet_orange.gif.svn-base │ │ │ │ │ └── more_arrows.gif.svn-base │ │ │ │ └── text-base │ │ │ │ │ ├── bullet_orange.gif.svn-base │ │ │ │ │ └── more_arrows.gif.svn-base │ │ │ ├── bullet_orange.gif │ │ │ └── more_arrows.gif │ │ ├── introduction.html │ │ ├── license.html │ │ ├── release.html │ │ ├── robot_product_page.html │ │ └── rtb-montage-notext.png │ ├── jtraj.m │ ├── lspb.m │ ├── makemap.m │ ├── mdl_Fanuc10L.m │ ├── mdl_MotomanHP6.m │ ├── mdl_S4ABB2p8.m │ ├── mdl_ball.m │ ├── mdl_coil.m │ ├── mdl_p8.m │ ├── mdl_phantomx.m │ ├── mdl_puma560.m │ ├── mdl_puma560_3.m │ ├── mdl_puma560_3_sym.m │ ├── mdl_puma560akb.m │ ├── mdl_quadcopter.m │ ├── mdl_stanford.m │ ├── mdl_twolink.m │ ├── mex │ │ ├── .svn │ │ │ ├── all-wcprops │ │ │ ├── entries │ │ │ └── text-base │ │ │ │ ├── Makefile.svn-base │ │ │ │ ├── README.svn-base │ │ │ │ ├── TODO.svn-base │ │ │ │ ├── check.m.svn-base │ │ │ │ ├── check1.m.svn-base │ │ │ │ ├── check2.m.svn-base │ │ │ │ ├── frne.c.svn-base │ │ │ │ ├── frne.h.svn-base │ │ │ │ ├── make.m.svn-base │ │ │ │ ├── ne.c.svn-base │ │ │ │ ├── prismatic.m.svn-base │ │ │ │ ├── stanford.m.svn-base │ │ │ │ ├── stanfordm.m.svn-base │ │ │ │ ├── vmath.c.svn-base │ │ │ │ └── vmath.h.svn-base │ │ ├── Makefile │ │ ├── README │ │ ├── TODO │ │ ├── check.m │ │ ├── check1.m │ │ ├── check2.m │ │ ├── frne.c │ │ ├── frne.h │ │ ├── frne.mexmaci64 │ │ ├── frne.mexw32 │ │ ├── make.m │ │ ├── ne.c │ │ ├── prismatic.m │ │ ├── stanford.m │ │ ├── stanfordm.m │ │ ├── vmath.c │ │ └── vmath.h │ ├── mstraj.m │ ├── mtraj.m │ ├── oa2r.m │ ├── oa2tr.m │ ├── plot_vehicle.m │ ├── plotbotopt.m │ ├── qplot.m │ ├── r2t.m │ ├── rotx.m │ ├── roty.m │ ├── rotz.m │ ├── rpy2jac.m │ ├── rpy2r.m │ ├── rpy2tr.m │ ├── rt2tr.m │ ├── rtbdemo.m │ ├── se2.m │ ├── skew.m │ ├── startup_rtb.m │ ├── t2r.m │ ├── tpoly.m │ ├── tr2angvec.m │ ├── tr2delta.m │ ├── tr2eul.m │ ├── tr2jac.m │ ├── tr2rpy.m │ ├── tr2rt.m │ ├── tranimate.m │ ├── transl.m │ ├── trinterp.m │ ├── tripleangle.fig │ ├── tripleangle.m │ ├── trnorm.m │ ├── trotx.m │ ├── troty.m │ ├── trotz.m │ ├── trplot.m │ ├── trplot2.m │ ├── trprint.m │ ├── unit.m │ ├── vex.m │ └── wtrans.m │ ├── simulink │ ├── control.mdl │ ├── ploop_test.mdl │ ├── polar_sfunc.m │ ├── quadrotor_dynamics.m │ ├── quadrotor_plot.m │ ├── roblocks.mdl │ ├── sensorfield.m │ ├── sl_braitenberg.mdl │ ├── sl_ctorque.mdl │ ├── sl_ctorque2.mdl │ ├── sl_driveline.mdl │ ├── sl_drivepoint.mdl │ ├── sl_drivepose.mdl │ ├── sl_fforward.mdl │ ├── sl_flex.mdl │ ├── sl_jspace.mdl │ ├── sl_lanechange.mdl │ ├── sl_pursuit.mdl │ ├── sl_quadcopter.mdl │ ├── sl_quadcopter_vs.mdl │ ├── sl_quadrotor.mdl │ ├── sl_quadrotor_vs.mdl │ ├── sl_rrmc.mdl │ ├── sl_rrmc2.mdl │ ├── sl_ztorque.mdl │ ├── slaccel.m │ ├── slplotbot.m │ ├── vloop.mdl │ ├── vloop_test.mdl │ └── vloop_test2.mdl │ └── startup_rvc.m ├── General_functions ├── Input_XML_reader.m ├── add_external_toolboxes.m ├── delta_theta_turn.m ├── myfilebrkpnts.mat ├── plotUncertainEllip2D.m ├── plot_gaussian_ellipsoid.m ├── reTypeDef.m ├── sample_yaml_from_user_data_delete_later ├── startup.m ├── test_delete_env2.obj ├── typeDef.m ├── user_GUI.fig └── user_GUI.m ├── Help_generator.m ├── Help_html ├── ChangeBackASAPFIRM_MP_product_page.m ├── Controller_base_class_help.htm ├── DFL_EKF_class_help.htm ├── DFL_EKF_class_help.html ├── DFL_SKF_class_help.htm ├── DFL_SKF_class_help.html ├── Dyn_manipulator_wall_sensing_deadzone_help.htm ├── Dynamical_planar_manipulator_help.htm ├── FIRM_API │ ├── FIRM_API.pptx │ ├── FIRM_API_description.aux │ ├── FIRM_API_description.log │ ├── FIRM_API_description.pdf │ ├── FIRM_API_description.synctex.gz │ ├── FIRM_API_description.tex │ ├── FIRM_API_overview.doc │ └── FIRM_API_overview.docx ├── FIRM_MP_product_page.html ├── FIRM_edge_class_help.htm ├── FIRM_edge_class_help.html ├── FIRM_graph_class_help.htm ├── FIRM_graph_interface_help.htm ├── FIRM_graph_interface_help.html ├── FIRM_node_class_help.htm ├── FIRM_node_class_help.html ├── FIRM_roadmap_page.gif ├── GPS_positional_help.htm ├── Hbelief_G_help.htm ├── Hbelief_G_help.html ├── Hbelief_p_help.htm ├── Hbelief_p_help.html ├── Hstate_help.htm ├── Hstate_help.html ├── Kalman_filter_help.htm ├── Kalman_filter_help.html ├── LQG_base_class_help.htm ├── LQG_class_help.htm ├── LQG_class_help.html ├── LQG_periodic_class_help.htm ├── LQG_periodic_class_help.html ├── LQG_stationary_class_help.htm ├── LQG_stationary_class_help.html ├── LQR_class_help.htm ├── LQR_class_help.html ├── Landmarks_Range_bearing_help.htm ├── Landmarks_Range_bearing_old_help.htm ├── Linear_system_class_help.htm ├── Linear_system_class_help.html ├── MotionModel_class_help.htm ├── MotionModel_class_help.html ├── MotionModel_interface_help.htm ├── MotionModel_interface_help.html ├── Multi_planar_robots_XYTheta_state_help.htm ├── ObservationModel_class_help.htm ├── ObservationModel_class_help.html ├── ObservationModel_class_two_robots_interface_help.htm ├── ObservationModel_interface_help.htm ├── ObservationModel_interface_help.html ├── Omni_directional_robot_help.htm ├── Orbit_class_help.htm ├── Orbit_class_help.html ├── Orbit_stabilizer_PLQG_class_help.htm ├── Orbit_stabilizer_PLQG_class_help.html ├── PLQG_based_FIRM_graph_class_help.htm ├── PLQG_based_FIRM_graph_class_help.html ├── PNPRM_class_help.htm ├── PNPRM_class_help.html ├── PRM_3D_planar_help.htm ├── PRM_3D_planar_help.html ├── PRM_class_help.htm ├── PRM_class_help.html ├── PRM_class_nodes_along_edges_help.htm ├── PRM_class_nodes_along_edges_help.html ├── PRM_interface_help.htm ├── PRM_interface_help.html ├── Planar_dyn_manipulator_belief_help.htm ├── Planar_dyn_manipulator_state_help.htm ├── Planar_manipulator_wall_sensing_deadzone_help.htm ├── Planar_manipulator_wall_sensing_help.htm ├── Planning_Problem_help.htm ├── Planning_Problem_help.html ├── Point_stabilizer_DFL_EKF_help.htm ├── Point_stabilizer_DFL_EKF_help.html ├── Point_stabilizer_DFL_SKF_help.htm ├── Point_stabilizer_DFL_SKF_help.html ├── Point_stabilizer_SLQG_class_help.htm ├── Point_stabilizer_SLQG_class_help.html ├── RandomWalk_help.htm ├── Revolute_joint_manipulator_help.htm ├── Robot_help.htm ├── SimulatorInterface_help.htm ├── Simulator_help.htm ├── Stabilizer_interface_help.htm ├── Stabilizer_interface_help.html ├── Stationary_LQG_based_FIRM_graph_class_help.htm ├── Stationary_LQG_based_FIRM_graph_class_help.html ├── Stationary_LQR_class_help.htm ├── Three_robot_good_poor_GPS_interface_help.htm ├── Three_robot_good_poor_GPS_no_comm_help.htm ├── Three_robot_good_poor_GPS_with_comm_help.htm ├── Two_robots_no_communication_help.htm ├── Unicycle_robot_help.htm ├── belief_help.htm ├── belief_help.html ├── belief_interface_help.htm ├── belief_interface_help.html ├── bservationModel_class.m_help.html ├── bservationModel_interface.m_help.html ├── bullet_orange.gif ├── class_listing (Amirhosseinaht623 Tamjidi's conflicted copy 2013-06-01).m ├── class_listing.html ├── class_listing.m ├── divider_fade.gif ├── docstyle.css ├── elief.m_help.html ├── elief_interface.m_help.html ├── helptoc.xml ├── helpwin_modified.m ├── html │ ├── FIRM_MP_product_page.html │ └── class_listing.html ├── laserScanner_help.htm ├── laser_Scanner_help.htm ├── multi_robot_positional_belief_help.htm ├── multi_robot_positional_state_help.htm ├── node_under_uncertainty_help.html ├── obstacles_class_help.htm ├── obstacles_class_help.html ├── otionModel_class.m_help.html ├── otionModel_interface.m_help.html ├── pattern_bkgd1.gif ├── pixelclear.gif ├── planar_robot_XYTheta_belief_help.htm ├── planar_robot_XYTheta_state_help.htm ├── publish_modified.m ├── remApi_help.htm ├── revolute_joint_manipulator_belief_help.htm ├── revolute_joint_manipulator_state_help.htm ├── sensor_help.htm ├── signal_roadmap_page.gif ├── stabilizer_class_help.htm ├── state_help.htm ├── state_help.html ├── state_interface_help.htm ├── state_interface_help.html ├── tate.m_help.html ├── tate_interface.m_help.html ├── texput.log ├── user_data_class_help.htm ├── user_data_class_help.html └── vrep_interface_help.htm ├── Main.m ├── README.md ├── Simulator_Toolbox ├── @obstacles_class │ └── obstacles_class.m ├── EmbeddedSimulator.m ├── FourthFloorJune10.obj ├── FourthFloorJune11.obj ├── MatlabWrapperForCollisionDetection │ ├── coldetect.cpp │ ├── coldetect.m │ └── coldetect.mexw32 ├── Simulator.m ├── Test_v_rep_with_one_node.m ├── Test_v_rep_with_one_node.m.BACKUP.9652.m ├── Test_v_rep_with_one_node.m.BASE.9652.m ├── Test_v_rep_with_one_node.m.LOCAL.9652.m ├── Test_v_rep_with_one_node.m.REMOTE.9652.m ├── Test_v_rep_with_one_node.m.orig ├── environment_forth_floor.obj ├── environment_forth_floor.obj.meshcache ├── fourthFloorMap_v2.m ├── fourthFloorMap_v3.m ├── generate_obj_file_from_vertices.m ├── getEnvironmentFromUser.m ├── 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