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Robotics System Toolbox Functions - By Category

Alphabetical List By Category

Coordinate System Transformations

axang2quatConvert axis-angle rotation to quaternion
axang2rotmConvert axis-angle rotation to rotation matrix
axang2tformConvert axis-angle rotation to homogeneous transformation
eul2quatConvert Euler angles to quaternion
eul2rotmConvert Euler angles to rotation matrix
eul2tformConvert Euler angles to homogeneous transformation
quat2axangConvert quaternion to axis-angle rotation
quat2eulConvert quaternion to Euler angles
quat2rotmConvert quaternion to rotation matrix
quat2tformConvert quaternion to homogeneous transformation
rotm2axangConvert rotation matrix to axis-angle rotation
rotm2eulConvert rotation matrix to Euler angles
rotm2quatConvert rotation matrix to quaternion
rotm2tformConvert rotation matrix to homogeneous transformation
tform2axangConvert homogeneous transformation to axis-angle rotation
tform2eulExtract Euler angles from homogeneous transformation
tform2quatExtract quaternion from homogeneous transformation
tform2rotmExtract rotation matrix from homogeneous transformation
tform2trvecExtract translation vector from homogeneous transformation
angdiffDifference between two angles
cart2homConvert Cartesian coordinates to homogeneous coordinates
hom2cartConvert homogeneous coordinates to Cartesian coordinates
trvec2tformConvert translation vector to homogeneous transformation
quaternionCreate a quaternion array

Robot Operating System (ROS)

Network Connection and Exploration

rosinitConnect to ROS network
rosmsgRetrieve information about ROS messages and message types
rosnodeRetrieve information about ROS network nodes
rosparamAccess ROS parameter server values
rosserviceRetrieve information about services in ROS network
rosshutdownShut down ROS system
rostopicRetrieve information about ROS topics
getGet ROS parameter value
hasCheck if ROS parameter name exists
searchSearch ROS network for parameter names
setSet value of ROS parameter or add new parameter
delDelete a ROS parameter
rosdeviceConnect to remote ROS device
runNodeStart ROS node
stopNodeStop ROS node
runCoreStart ROS core
stopCoreStop ROS core
isNodeRunningDetermine if ROS node is running
isCoreRunningDetermine if ROS core is running
deleteFileDelete file from device
dirList folder contents on device
getFileGet file from device
openShellOpen interactive command shell to device
putFileCopy file to device
systemExecute system command on device
CoreCreate ROS Core
NodeStart ROS node and connect to ROS master
ParameterTreeAccess ROS parameter server

Publishers and Subscribers

rosmessageCreate ROS messages
rosmsgRetrieve information about ROS messages and message types
definitionRetrieve definition of ROS message type
showdetailsDisplay all ROS message contents
rospublisher Publish message on a topic
rossubscriber Subscribe to messages on a topic
rostopicRetrieve information about ROS topics
receiveWait for new ROS message
sendPublish ROS message to topic
robotics.RateExecute loop at fixed frequency
rosrateExecute loop at fixed frequency

Services and Actions

rosactionRetrieve information about ROS actions
rosactionclientCreate ROS action client
cancelAllGoalsCancel all goals on action server
cancelGoalCancel last goal sent by client
sendGoalSend goal message to action server
sendGoalAndWaitSend goal message and wait for result
waitForServerWait for action server to start
callCall the ROS service server and receive a response
rosserviceRetrieve information about services in ROS network
rossvcclientConnect to ROS service server
rossvcserverCreate ROS service server

Log Files and Transformations

rosbagOpen and parse rosbag log file
readMessagesRead messages from rosbag
selectSelect subset of messages in rosbag
timeseriesCreates a time series object for selected message properties
rostimeAccess ROS time functionality
rosdurationCreate a ROS duration object
secondsReturns seconds of a time or duration
rostfReceive, send, and apply ROS transformations
applyTransform message entities into target frame
canTransformVerify if transformation is available
transformTransform message entities into target coordinate frame
waitForTransformWait until a transformation is available
getTransformRetrieve transformation between two coordinate frames
sendTransformSend transformation to ROS network
BagSelection Object for storing rosbag selection
TransformStampedCreate transformation message

Specialized Messages

readBinaryOccupancyGridRead binary occupancy grid
writeBinaryOccupancyGridWrite values from grid to ROS message
readOccupancyGridRead occupancy grid message
writeOccupancyGridWrite values from grid to ROS message
readOccupancyMap3DRead 3-D map from Octomap ROS message
readImageConvert ROS image data into MATLAB image
writeImageWrite MATLAB image to ROS image message
readCartesianRead laser scan ranges in Cartesian coordinates
readScanAnglesReturn scan angles for laser scan range readings
plotDisplay laser or lidar scan readings
readXYZExtract XYZ coordinates from point cloud data
readRGBExtract RGB values from point cloud data
readAllFieldNamesGet all available field names from ROS point cloud
readFieldRead point cloud data based on field name
scatter3Display point cloud in scatter plot
CompressedImageCreate compressed image message
ImageCreate image message
LaserScanCreate laser scan message
OccupancyGridCreate occupancy grid message
PointCloud2Access point cloud messages

Custom Message Support

roboticsAddonsInstall add-ons for robotics
rosgenmsgGenerate custom messages from ROS definitions

ROS Access with Simulink

rosdeviceConnect to remote ROS device
runNodeStart ROS node
stopNodeStop ROS node
runCoreStart ROS core
stopCoreStop ROS core
isNodeRunningDetermine if ROS node is running
isCoreRunningDetermine if ROS core is running

Sensor Data

rosinitConnect to ROS network
rostopicRetrieve information about ROS topics
rosmsgRetrieve information about ROS messages and message types
rosmessageCreate ROS messages
rospublisher Publish message on a topic
rossubscriber Subscribe to messages on a topic
rosparamAccess ROS parameter server values
rosrateExecute loop at fixed frequency
rosmessageCreate ROS messages
readMessagesRead messages from rosbag
receiveWait for new ROS message
sendPublish ROS message to topic
showdetailsDisplay all ROS message contents
selectSelect subset of messages in rosbag
transformTransform message entities into target coordinate frame
waitForTransformWait until a transformation is available
getTransformRetrieve transformation between two coordinate frames
sendTransformSend transformation to ROS network
rostfReceive, send, and apply ROS transformations
applyTransform message entities into target frame
readBinaryOccupancyGridRead binary occupancy grid
writeBinaryOccupancyGridWrite values from grid to ROS message
readOccupancyGridRead occupancy grid message
writeOccupancyGridWrite values from grid to ROS message
readOccupancyMap3DRead 3-D map from Octomap ROS message
readImageConvert ROS image data into MATLAB image
writeImageWrite MATLAB image to ROS image message
lidarScanCreate object for storing 2-D lidar scan
plotDisplay laser or lidar scan readings
removeInvalidDataRemove invalid range and angle data
readCartesianRead laser scan ranges in Cartesian coordinates
readScanAnglesReturn scan angles for laser scan range readings
transformScanTransform laser scan based on relative pose
readXYZExtract XYZ coordinates from point cloud data
readRGBExtract RGB values from point cloud data
readAllFieldNamesGet all available field names from ROS point cloud
readFieldRead point cloud data based on field name
scatter3Display point cloud in scatter plot
robotics.RateExecute loop at fixed frequency
rosrateExecute loop at fixed frequency
CompressedImageCreate compressed image message
ImageCreate image message
LaserScanCreate laser scan message
lidarScanCreate object for storing 2-D lidar scan
OccupancyGridCreate occupancy grid message
PointCloud2Access point cloud messages

Ground Vehicle Algorithms

buildMapBuild occupancy grid from lidar scans
readBinaryOccupancyGridRead binary occupancy grid
writeBinaryOccupancyGridWrite values from grid to ROS message
readOccupancyGridRead occupancy grid message
writeOccupancyGridWrite values from grid to ROS message
readOccupancyMap3DRead 3-D map from Octomap ROS message
lidarScanCreate object for storing 2-D lidar scan
matchScansEstimate pose between two laser scans
matchScansGridEstimate pose between two lidar scans using grid-based search
plotDisplay laser or lidar scan readings
removeInvalidDataRemove invalid range and angle data
transformScanTransform laser scan based on relative pose
connectConnect poses for given connection type
interpolateInterpolate poses along path segment
showVisualize path segment
optimizePoseGraphOptimize nodes in pose graph
addRelativePoseAdd relative pose to pose graph
edgesEdges in pose graph
edgeConstraintsEdge constraints in pose graph
findEdgeIDFind edge ID of edge
nodesPoses of nodes in pose graph
removeEdgesRemove loop closure edges from graph
showPlot pose graph
robotics.LidarSLAM Perform localization and mapping using lidar scans
robotics.MonteCarloLocalizationLocalize robot using range sensor data and map
robotics.BinaryOccupancyGridCreate occupancy grid with binary values
robotics.OccupancyGridCreate occupancy grid with probabilistic values
robotics.OccupancyMap3D Create 3-D occupancy map
robotics.OdometryMotionModelCreate an odometry motion model
robotics.ParticleFilterCreate particle filter state estimator
robotics.PoseGraph Create 2-D pose graph
robotics.PoseGraph3D Create 3-D pose graph
robotics.DubinsConnectionDubins path connection type
robotics.DubinsPathSegmentDubins path segment connecting two poses
robotics.ReedsSheppConnectionReeds-Shepp path connection type
robotics.ReedsSheppPathSegmentReeds-Shepp path segment connecting two poses
robotics.PRMCreate probabilistic roadmap path planner
robotics.PurePursuitCreate controller to follow set of waypoints
robotics.VectorFieldHistogramAvoid obstacles using vector field histogram

Manipulator Algorithms

importrobotImport rigid body tree model from URDF file, text, or Simscape Multibody model
addBodyAdd body to robot
addSubtreeAdd subtree to robot
addVisualAdd visual geometry data to rigid body
clearVisualClear all visual geometries
getBodyGet robot body handle by name
removeBodyRemove body from robot
replaceBodyReplace body on robot
replaceJointReplace joint on body
showShow robot model in a figure
showdetailsShow details of robot model
subtreeCreate subtree from robot model
getTransformGet transform between body frames
randomConfigurationGenerate random configuration of robot
homeConfigurationGet home configuration of robot
showShow robot model in a figure
centerOfMassCenter of mass position and Jacobian
externalForceCompose external force matrix relative to base
forwardDynamicsJoint accelerations given joint torques and states
geometricJacobianGeometric Jacobian for robot configuration
gravityTorqueJoint torques that compensate gravity
inverseDynamicsRequired joint torques for given motion
massMatrixJoint-space mass matrix
velocityProductJoint torques that cancel velocity-induced forces
robotics.RigidBodyTreeCreate tree-structured robot
robotics.RigidBodyCreate a rigid body
robotics.JointCreate a joint
robotics.InverseKinematicsCreate inverse kinematic solver
robotics.GeneralizedInverseKinematicsCreate multiconstraint inverse kinematics solver
robotics.OrientationTargetCreate constraint on relative orientation of body
robotics.PositionTargetCreate constraint on relative position of body
robotics.PoseTargetCreate constraint on relative pose of body
robotics.AimingConstraintCreate aiming constraint for pointing at a target location
robotics.CartesianBoundsCreate constraint to keep body origin inside Cartesian bounds
robotics.JointPositionBoundsCreate constraint on joint positions of robot model

UAV Algorithms

roboticsAddonsInstall add-ons for robotics
controlControl commands for UAV
derivativeTime derivative of UAV states
environmentEnvironmental inputs for UAV
stateUAV state vector
plotTransformsPlot 3-D transforms from translations and rotations
multirotorGuidance model for multirotor UAVs
fixedwingGuidance model for fixed-wing UAVs
uavWaypointFollowerFollow waypoints for UAV