Developer

It’s on GitHub

My code base lives on GitHub spread across a few repositories:

•  robotics-toolbox-matlab, the core robotics toolbox (RTB)
•  machinevision-toolbox-matlab, the core machine vision toolbox  (MVTB)
•  toolbox-comon-matlab, useful functions that both toolboxes call on
• spatial-math, functions and classes that support spatial representations in 2D and 3D
•  robotics-toolbox-python, an experimental version of  the robotics toolbox in Python.  This is old now and a project I’d really like to progress, if you’re interested in helping out please contact me.

Now and again I put a coherent bunch of code out as a release.  These used to be zip files but now are packaged as MATLAB’s self-installing .mltbx files.

There is now continuous integration using TravisCI and codecov, see the links from the GitHub pages. Thanks to MathWorks for including me in their Travis testing program.

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Development history

For the longest time the toolboxes were maintained under SVN on my own server and later on Google Code.  Google Code is now a thing of the past but the history (from 2008) can still be found here:

Visit the repository,
See full change history

 

Actually I started using RCS (back in the day), then CVS, then SVN and now Git…

The releases were:

RTB release 9 (September 2011)

Significant expansion to support the Robotics, Vision & Control book. Major additions include:

• changes of class names for arm-type robots
• mobile robot control, planning and localization
• quadrotor control
• improved documentation

You can get access to the various 9.x releases through the old download interface.

RTB release 8 (December 2008)

This is the first update to the toolbox since 2002. The main features of release 8 are:

• integration with Matlab desktop, help and demo systems
• variants of many functions that return a rotation rather than homog. transform matrix, for instance rotx() and trotx() return a 3×3 and 4×4 matrix respectively.
• HTML format function help documentation (generated using m2html) integrated with help browswer
• new robot models: Motoman, ABB, Fanuc
• rpy2r and eul2r accept trajectories
• fix errors in Simulink demos (due to code atrophy)
• tested with Matlab 2008b
• some functions have been retired
• adopt the new MATLAB classdef object syntax

Available here.

RTB release 7 (April 2002)

MEX files, Simulink models and modified Denavit-Hartenberg support. This was released to support the third edition of John Craig’s textbook where the exercises made use of RTB.

Available here.

RTB release 6 (April 2001)

Available here.

RTB release 5 (April 1999)

First release with objects. Before that everything was a matrix.

RTB release 4 (August 1996)

Corresponded to the article published in the IEEE Robotics & Automation magazine.  Available here.

MVTB release 3 (September 2011)

Significant expansion to support the Robotics, Vision & Control book. Major additions include:

• camera classes
• feature classes
• SIFT, SURF, graph-based segmentation, tracking, bag of words etc. ### release 2 (2005) ### release 1 (??)

MVTB release 2 (2005)

MVTB release 1 (1999)

The machine vision toolbox developed slowly during the 1990s to assist in research related to visual servoing, camera calibration, camera modeling, image processing.  The first release was in 1999.