MATLAB toolbox changes

Migrating from RVC2 to RVC3

RVC3 uses, as much as possible, MATLAB supported tooling. Many functions used are from MATLAB 23a and later releases. A small number of functions still have no MATLAB equivalents and provided in the RVC3 Toolbox.

Utility functions

RVC2 function	MathWorks replacement	RVC3 toolbox	Notes
randinit	rng("default")
numrows(a)	size(a,1)
numcols(a)	size(a,2)
mplot	stackedplot		mplot(t, q, "label", {..}) can be replaced with stackedplot(t, q, "DisplayLabels", [...], "GridVisible", 1)
tpoly	quinticpolytraj
lspb	trapveltraj		New function doesn't have visualization
mtraj	quinticpolytraj, trapveltraj		New function doesn't have visualization
mstraj	trapveltraj
ctraj	transformtraj
Polygon	polyshape		Introduced in 17b, has similar functionality
colnorm	vecnorm

Spatial operations: transforms, triple angles, quaternions etc.

RVC2 function	MathWorks replacement	RVC3 toolbox	Notes
angvec2r	axang2rotm		angvec2r(theta, v) = axang2rotm([v theta])
delta2tr		delta2tform
e2h	cart2hom	e2h	e2h(x) = cart2hom(x')'
eul2r	eul2rotm		eul2r(a,b,c) = eul2rotm([a,b,c], "ZYZ")
eul2tr	eul2tform
h2e	hom2cart	h2e	h2e(x) = hom2cart(x')'
isrot2		isrotm2d
oa2r		oa2rotm
oa2tr		oa2tform
plot_circle		plotcircle
plot_ellipse		plotellipse
plot_ellipse		plotellipsoid
plot_homline		plothomline
plot_point		plotpoint
plot_vehicle		plotvehicle
plot_poly		plotpoly	Could potentially use polyshape/plot
Plucker		Plucker
Quaternion	quaternion		methods are different
r2t	se3	rotm2tform
rt2tr	se3	rotm2tform	rt2tr(R,t) = se3(R,t)
rot2		rotm2d
rotx		rotmx
roty		rotmy
rotz		rotmz
SE3.Ad		tform2adjoint
SE3.velxform		velxform
rpy2r	eul2rotm		eul2rotm([a,b,c], 'xyz') = rpy2r(c,b,a, 'xyz')
rpy2tr	eul2tform		eul2tform([a,b,c], 'xyz') = rpy2tr(c,b,a, 'xyz')
skew		vec2skew
skewa		vec2skewa
tr2angvec	tform2axang		HTM case: tr2angvec returns 2 arguments, theta and v. tform2axang returns a single 4-vector, which is a concatenation of [v, theta]
tr2angvec	rotm2axang		RM case: tr2angvec returns 2 arguments, theta and v. rotm2axang returns a single 4-vector, which is a concatenation of [v, theta]
tr2delta		tform2delta
tr2eul	tform2eul		For HTM case: tr2eul(T) = tform2eul(T, "ZYZ")
tr2eul	rotm2eul		For RM case: tr2eul(R) = rotm2eul(R, "ZYZ")
t2r	tform2rotm
tr2rpy	rotm2eul		HTM case: tr2rpy(T,'abc') = flip(tform2eul(T,"abc"), 2)
tr2rpy	rotm2eul		RM case: tr2rpy(R,'abc') = flip(rotm2eul(R,"abc"), 2)
tr2rt	tform2trvec, trvec2tform		[R,t]=tr2rt(T) R=tform2rotm(T), t=tform2trvec(T)
tranimate		animtform
tranimate2		animtform2d
transl	trvec2tform		transl(t)=trvec2tform(t)
transl	tform2trvec		transl(T)=tform2trvec(T)
trexp	expm		trexp is efficient analytical form, but is actually slower than expm
tripleangle		tripleangleApp
trlog	logm		trlog is an efficient analytical solution for case of SO3/SE3 matrices, logm is much 7x slower
trnorm		tformnorm
trot2		tformr2d
trotx		tformrx
troty		tformry
trotz		tformrz
trplot		plottform
trplot2		plottform2d
Twist		Twist2d	For SE(2)
Twist		Twist	For SE(3)
vex		skew2vec
vexa		skewa2vec

All angles are in radians. The "deg" option (angles in degrees instead of radians) does not exist for any replacement functions. Use deg2rad or rad2deg if required.

RVC3 function names conform to MathWorks naming and argument conventions.