Homogeneous Transforms
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eulzxz | transform of Euler angles |

ieulzxz | Euler angles of a transform |

irotk | rotation around a unit vector of a transform |

irpy | roll-pitch-yaw angles of a transform |

rotd | transform of a rotation around a line segment |

rotk | transform of a rotation around a unit vector |

rpy | transform of roll-pitch-yaw angles |

rotx | transform of a rotation around X axis |

roty | transform of a rotation around Y axis |

rotz | transform of a rotation around Z axis |

trans | transform of a translation |

Quaternions
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+, -, *, /, = | operators on quaternions |

conjugate, i | conjugate (or inverse) of a quaternion |

exp, Log, power | exponential, logarithm and power of a quaternion |

dot_prod | dot product of a quaternion |

dot, E | quaternion time derivative |

unit | make a quaternion a unit quaternion |

norm, norm_sqr | compute the norm and the square norm of a quaternion |

s, v | returns the scalar and the vector of a quaternion |

set_s, set_v | assign values to the scalar and vector part of a quaternion |

R, T | returns the equivalent rotation matrix (3 × 3 or 4 × 4) |

Functions | |

Omega | returns angular velocity |

Slerp | Spherical Linear Interpolation |

Slerp_prime | Spherical Linear Interpolation derivative |

Squad | Spherical Cubic Interpolation |

Squad_prime | Spherical Cubic Interpolation derivative |

Spl_Quaternion
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quat | interpolate the spline at time t to sets the quaternion q. |

quat_w | interpolate the spline at time t to sets the quaternion q and angular velocity ω. |

Spl_Cubic
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interpolating | interpolate the spline at time t. |

first_derivative | interpolate the spline first derivative at time t. |

second_derivative | interpolate the spline second derivative at time t. |

Spl_path
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p | interpolate the spline at time t to sets the position. |

p_pdot | interpolate the spline at time t to sets position and velocity. |

p_pdot_pddot | interpolate the spline at time t to sets position, velocity and acceleration. |

Computed_torque_method
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torque_cmd | sets the output torque |

set_Kd | sets the derivative error gain |

set_Kp | sets the position error gain |

Resolve_acc | |

torque_cmd | sets the output torque |

set_Kvp | sets the translational velocity error gain |

set_Kpp | sets the translational position error gain |

set_Kvo | sets the rotational velocity error gain |

set_Kpo | sets the rotational position error gain |

Impedance
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control | sets the compliant trajectory |

set_Mp | sets the translational impedance inertia matrix |

set_Dp | sets the translational impedance damping matrix |

set_Kp | sets the translational impedance stiffness matrix |

set_Mo | sets the rotational impedance inertia matrix |

set_Do | sets the rotational impedance damping matrix |

set_Ko | sets the rotational impedance stiffness matrix |

IO_matrix_file | |

write | create and write data to a file |

read | read data from a file |

read_all | read entire data file at once |

Plot2d | |

addcommand | add a gnuplot command the 2d graph |

addcurve | add a curve to the 2d graph |

dump | dump the content of the graph to stdout |

gnuplot | plot the graph through a call to gnuplot |

settitle | sets graph title |

setxlabel | sets axis X label |

setylabel | sets axis Y label |

set_plot2d | “wrapper” function for Plot2d |

Config
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read_conf | read configuration file |

select | assign the value of parameter from a section |

add | specify the value of parameter for a section |

Joint Variables | |

get_q | get the robot joint variables position |

get_qp | get the robot joint variables velocity |

get_qpp | get the robot joint variables acceleration |

set_q | set the robot joint variables position |

set_qp | set the robot joint variables velocity |

set_qpp | set the robot joint variables acceleration |

Robot Kinematics | |

inv_kin | inverse kinematics |

inv_kin_rhino | Rhino inverse kinematics |

inv_kin_puma | Puma inverse kinematics |

jacobian | robot Jacobian |

jacobian_dot | robot Jacobian derivative |

jacobian_DLS_inv | robot Jacobian DLS inverse |

kine, kine_pd | forward kinematics |

dTdqi | partial derivative of forward kinematics |

Robot Dynamics
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acceleration | forward dynamics |

inertia | robot inertia matrix |

torque | inverse dynamics |

torque_novelocity | inverse dynamics without velocity and gravity |

G | gravity effects |

C | Coriolis and centrifugal effects |

Robot Linearized Dynamics
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delta_torque | δτ = D(q)δ + S_{1}(q,)δ + S_{2}(q,,)δq |

dq_torque | S_{2}(q,,)δq |

dqp_torque | S_{1}(q,)δ |

dtau_dq | = S_{2}(q,,) |

dtau_dqp | = S_{1}(q,) |

Miscellaneous | |

odeint | adaptive step size Runge-Kutta integrator |

Runge_Kutta4 | fixed step size 4^{th} order Runge-Kutta integrator |

Integ_Trap | trapezoidal integration |

pinv | matrix pseudo inverse |

vec_dot_prod | vector dot product |

vec_x_prod | vector cross product |

x_prod_matrix | cross product matrix |

perturb_robot | perturb robot parameters |