Spatial Math Toolbox
Spatial math primitives for MATLAB
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This Toolbox contains functions and classes to represent orientation and pose in 2D and 3D (SO(2), SE(2), SO(3), SE(3)) as orthogonal and homogeneous transformation matrices, quaternions, twists, triple angles, and matrix exponentials. The Toolbox also provides functions for manipulating these datatypes, converting between them, composing them, transforming points and graphically displaying them.
Much of this Toolbox functionality was previously in the Robotics Toolbox for MATLAB.
Cite As
Peter Corke (2026). Spatial Math Toolbox (https://github.com/petercorke/spatialmath-matlab), GitHub. Retrieved .
Corke, Peter. Robotics, Vision and Control. Springer International Publishing, 2017, doi:10.1007/978-3-319-54413-7.
General Information
- Version 1.0.0 (5.39 MB)
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View License on GitHub
MATLAB Release Compatibility
- Compatible with any release
Platform Compatibility
- Windows
- macOS
- Linux
Versions that use the GitHub default branch cannot be downloaded
| Version | Published | Release Notes | Action |
|---|---|---|---|
| 1.0.0 |
