The Matlab/Octave rotations library is a collection of functions, bundled as m-scripts, that address computations and numerical handling of rotations in 3D Euclidean space. The rotation representations that are supported are rotation matrices (Rotmat), Quaternions (Quat), intrinsic ZYX Euler angles (Euler), fused angles (Fused) and tilt angles (Tilt). Operations such as composition, inversion, ZYX yaw extraction, fused yaw extraction, random generation, equality detection, vector rotation and much more have been implemented for each rotation representation. Tilt vector addition and the relative and absolute tilt phase spaces are also supported. Unit tests for each function are provided to ensure that the library is performant.

Features

  • Highly efficient cross-platform library written to run in both Matlab and Octave
  • No dependencies other than the core Matlab/Octave functions
  • Implements common calculations and conversions involving rotation matrices, quaternions, ZYX Euler angles, fused angles, tilt angles and the tilt phase space
  • Testbed for the design, evaluation and visualisation of algorithms involving rotations
  • Supports the novel fused angles and tilt angles rotation representations, as well as the tilt phase space
  • Ships with unit tests to ensure the validity and robustness of each function
  • Code is written in a style that is easy to translate into any other language for use in end applications
  • Well-commented and documented Matlab/Octave code that allows easy modification/extension by users (who are encouraged to submit improvements/bug fixes to the author, so that the library can be improved for everyone!)
  • Available both as a ZIP bundle and a git repository (see Code)

Project Samples

Plot of a relative rotation using the PlotCsys function Fused roll vs fused pitch angle distribution of RandFused (interactive unit testing) Unit testing of the library Multiple coordinate frames generated and plotted using the library

Project Activity

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Categories

Scientific/Engineering, Robotics, Libraries

License

BSD License

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Matlab/Octave Rotations Library Web Site

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Additional Project Details

Intended Audience

Information Technology, Science/Research, Developers, Engineering

Programming Language

MATLAB

Related Categories

MATLAB Scientific Engineering, MATLAB Robotics Software, MATLAB Libraries

Registered

2014-11-04
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