Kinematics Toolbox

The kinematics toolbox is intended for prototyping robotics and computer vision related tasks.

Much of this library was written as I was learning how to use twists for rigid-body computer vision applications as opposed to traditional robotics (e.g. DH parameters and quaternions). My hope is that they are useful for others doing the same. The toolbox is broken up into functions that deal primarily with homogeneous transforms and their Lie algebra, and a set of functions for interacting with serial link kinematic structures. There are also quite a few functions for generating nice plots and animations of the results. Included is an html documentation page that lists all the functions and each function provides its own documentation.