| Includes a variety of routines that are useful for performing calculations related to robotics. Commands are X-Rotation, Y-Rotation, Z-Rotation, XYZ-Translation, Denavit-Hartenberg Transformation, Inverse Homogeneous, Inverse DH, Matrix Multiplication, Matrix Multiplication for Rotations, Rotation Matrix Extraction, Position Vector Extraction, Analytical Jacobian, Analytical Jacobian (Homogeneous), Geometric Jacobian - Linear Velocity, Geometric Jacobian - Angular Velocity, Euler to Rotation Matrix, and Atan2. |