Robotics Toolbox(1)

The main work ability

*** Homogeneous points and lines***

     e2h                             - Euclidean coordinates to homogeneous
     h2e                             - homogeneous coordinates to Euclidean
     homline                         - create line from 2 points
     homtrans                        - transform points

Differential motion

     delta2tr                        - differential motion vector to SE3
     eul2jac                         - Euler angles to Jacobian
     rpy2jac                         - RPY angles to Jacobian
     skew                            - vector to skew symmetric matrix
     tr2delta                        - SE3 to differential motion vector
     tr2jac                          - SE3 to Jacobian
     vex                             - skew symmetric matrix to vector
     wtrans                          - transform wrench between frames

*** Trajectory generation***

     ctraj                           - Cartesian trajectory
     jtraj                           - joint space trajectory
     lspb                            - 1D trapezoidal trajectory
     mtraj                           - multi-axis trajectory for arbitrary function
     mstraj                          - multi-axis multi-segment trajectory
     tpoly                           - 1D polynomial trajectory
     trinterp                        - interpolate SE3 s

Quaternion

     Quaternion                      - constructor
     /                               - divide quaternion by quaternion or scalar