Short articles on a variety of topics.  Mostly I write these to help myself learn a thing, and to sketch out material for future editions of the book.

Tutorials

 Robotics

MATLAB stuff

  • Integrating Python into MATLAB (November 2019) - We often need to create code using a mixture of languages such as C++, Python and MATLAB.  Each language has its… ...
  • Integrating C++ into MATLAB (November 2019) - We often need to create programs using a mixture of languages such as C++ and MATLAB.  Each has its own… ...
  • Understanding URDF with MATLAB (November 2018) - The Universal Robot Data Format (URDF) is an increasingly common way to represent the kinematic structure and visual appearance of… ...
  • Parsing XML with MATLAB (November 2018) - An increasing amount of data is encoded in XML format. MATLAB has built in support for parsing XML format files,… ...
  • Solving trigonometric equations (July 2018) - Equations of the form \(a \cos \theta + b\sin \theta = c\) arise frequently when analytically solving robot kinematic equations.… ...
  • A quick introduction to MATLAB objects (November 2017) - This article is a quick introduction to MATLAB objects, using an example from the Robotics Toolbox for MATLAB. It was… ...
  • What’s in a MATLAB .mltbx file (February 2017) - Since 2015 MATLAB has supported the ability to distribute a Toolbox with all the files, documentation and settings packaged up in a… ...
  • Interfacing a hobby robot arm to MATLAB (March 2013) - This document describes how to connect a real and relatively inexpensive hobby-class robot, the PhantomX Pincher AX-12 robot from Trossen… ...

 Mac stuff

  • Making V-REP work (November 2018) - V-REP is a great robotics simulator, but it's been ages since I last used it.  I installed the latest version… ...
  • Mac hotkey to refile email (November 2018) - Using Apple Mail I wanted to have a single hotkey to file mail into a folder.  I used to use… ...

General

  • Hacking graphviz/dot to place xlabels (December 2017) - dot is a wonderful tool and the node xlabel attribute allows for an "external label" in addition to the normal… ...
  • Descarte’s bones (January 2015) - Rene Descartes triggered a revolution in thinking, Cartesianism, and attracted many followers and he became a personage. His thinking was… ...