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Change error code from RTB to SMTB
Updated the licence text from LGPL to MIT Updated the copyright year
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‎Animate.m

+20-17
Original file line numberDiff line numberDiff line change
@@ -28,25 +28,28 @@
2828
% ffmpeg -r 10 -i movie/%04d.png out.mp4
2929
%
3030

31-
32-
% Copyright (C) 1993-2017, by Peter I. Corke
31+
% Copyright (C) 1993-2019 Peter I. Corke
3332
%
34-
% This file is part of The Robotics Toolbox for MATLAB (RTB).
35-
%
36-
% RTB is free software: you can redistribute it and/or modify
37-
% it under the terms of the GNU Lesser General Public License as published by
38-
% the Free Software Foundation, either version 3 of the License, or
39-
% (at your option) any later version.
40-
%
41-
% RTB is distributed in the hope that it will be useful,
42-
% but WITHOUT ANY WARRANTY; without even the implied warranty of
43-
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
44-
% GNU Lesser General Public License for more details.
33+
% This file is part of The Spatial Math Toolbox for MATLAB (SMTB).
4534
%
46-
% You should have received a copy of the GNU Leser General Public License
47-
% along with RTB. If not, see <http://www.gnu.org/licenses/>.
35+
% Permission is hereby granted, free of charge, to any person obtaining a copy
36+
% of this software and associated documentation files (the "Software"), to deal
37+
% in the Software without restriction, including without limitation the rights
38+
% to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
39+
% of the Software, and to permit persons to whom the Software is furnished to do
40+
% so, subject to the following conditions:
41+
%
42+
% The above copyright notice and this permission notice shall be included in all
43+
% copies or substantial portions of the Software.
44+
%
45+
% THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
46+
% IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
47+
% FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
48+
% COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
49+
% IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
50+
% CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
4851
%
49-
% http://www.petercorke.com
52+
% https://github.com/petercorke/spatial-math
5053

5154

5255
classdef Animate < handle
@@ -124,7 +127,7 @@
124127
switch (e)
125128
case {'.mp4', '.m4v'}
126129
if ~(ismac || ispc)
127-
error('RTB:Animate:nosupported', 'MP4 creation not supported by MATLAB on this platform')
130+
error('SMTB:Animate:nosupported', 'MP4 creation not supported by MATLAB on this platform')
128131
end
129132
profile = 'MPEG-4';
130133
case '.mj2'

‎Frame.m

+19-18
Original file line numberDiff line numberDiff line change
@@ -40,27 +40,28 @@
4040
%
4141
% See also TRPLOT2, TRANIMATE.
4242

43-
44-
45-
46-
% Copyright (C) 1993-2017, by Peter I. Corke
43+
% Copyright (C) 1993-2019 Peter I. Corke
4744
%
48-
% This file is part of The Robotics Toolbox for MATLAB (RTB).
49-
%
50-
% RTB is free software: you can redistribute it and/or modify
51-
% it under the terms of the GNU Lesser General Public License as published by
52-
% the Free Software Foundation, either version 3 of the License, or
53-
% (at your option) any later version.
45+
% This file is part of The Spatial Math Toolbox for MATLAB (SMTB).
5446
%
55-
% RTB is distributed in the hope that it will be useful,
56-
% but WITHOUT ANY WARRANTY; without even the implied warranty of
57-
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
58-
% GNU Lesser General Public License for more details.
59-
%
60-
% You should have received a copy of the GNU Leser General Public License
61-
% along with RTB. If not, see <http://www.gnu.org/licenses/>.
47+
% Permission is hereby granted, free of charge, to any person obtaining a copy
48+
% of this software and associated documentation files (the "Software"), to deal
49+
% in the Software without restriction, including without limitation the rights
50+
% to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
51+
% of the Software, and to permit persons to whom the Software is furnished to do
52+
% so, subject to the following conditions:
53+
%
54+
% The above copyright notice and this permission notice shall be included in all
55+
% copies or substantial portions of the Software.
56+
%
57+
% THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
58+
% IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
59+
% FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
60+
% COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
61+
% IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
62+
% CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
6263
%
63-
% http://www.petercorke.com
64+
% https://github.com/petercorke/spatial-math
6465

6566
% TODO
6667
% need to decide how to handle scaling

‎LICENSE

+1-1
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
11
MIT License
22

3-
Copyright (c) 2018 Peter Corke
3+
Copyright (c) 2019 Peter Corke
44

55
Permission is hereby granted, free of charge, to any person obtaining a copy
66
of this software and associated documentation files (the "Software"), to deal

‎PGraph.m

+21-18
Original file line numberDiff line numberDiff line change
@@ -76,25 +76,28 @@
7676
% Notes::
7777
% - Support for edge direction is rudimentary.
7878

79-
80-
% Copyright (C) 1993-2017, by Peter I. Corke
79+
% Copyright (C) 1993-2019 Peter I. Corke
8180
%
82-
% This file is part of The Robotics Toolbox for MATLAB (RTB).
83-
%
84-
% RTB is free software: you can redistribute it and/or modify
85-
% it under the terms of the GNU Lesser General Public License as published by
86-
% the Free Software Foundation, either version 3 of the License, or
87-
% (at your option) any later version.
88-
%
89-
% RTB is distributed in the hope that it will be useful,
90-
% but WITHOUT ANY WARRANTY; without even the implied warranty of
91-
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
92-
% GNU Lesser General Public License for more details.
81+
% This file is part of The Spatial Math Toolbox for MATLAB (SMTB).
9382
%
94-
% You should have received a copy of the GNU Leser General Public License
95-
% along with RTB. If not, see <http://www.gnu.org/licenses/>.
83+
% Permission is hereby granted, free of charge, to any person obtaining a copy
84+
% of this software and associated documentation files (the "Software"), to deal
85+
% in the Software without restriction, including without limitation the rights
86+
% to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
87+
% of the Software, and to permit persons to whom the Software is furnished to do
88+
% so, subject to the following conditions:
89+
%
90+
% The above copyright notice and this permission notice shall be included in all
91+
% copies or substantial portions of the Software.
92+
%
93+
% THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
94+
% IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
95+
% FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
96+
% COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
97+
% IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
98+
% CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
9699
%
97-
% http://www.petercorke.com
100+
% https://github.com/petercorke/spatial-math
98101

99102
% Peter Corke 8/2009.
100103

@@ -537,7 +540,7 @@ function clear(g)
537540

538541
if nargin < 3
539542
if ~all(size(v) == size(g.vertexlist))
540-
error('RTB:PGraph:badarg', 'value must be size of vertex table');
543+
error('SMTB:PGraph:badarg', 'value must be size of vertex table');
541544
end
542545
g.vertexlist = v;
543546
else
@@ -1388,7 +1391,7 @@ function dotfile(g, varargin)
13881391
if isa(g.measure, 'function_handle')
13891392
d = g.measure(x1(:), x2(:));
13901393
if ~isscalar(d) && d <= 0
1391-
error('RTB:PGraph:badresult', 'distance function must return a positive scalar');
1394+
error('SMTB:PGraph:badresult', 'distance function must return a positive scalar');
13921395
end
13931396
else switch g.measure
13941397
case 'Euclidean'

‎Plucker.m

+31-28
Original file line numberDiff line numberDiff line change
@@ -46,25 +46,28 @@
4646
% - There is a huge variety of notation used across the literature, as well as the ordering
4747
% of the direction and moment components in the 6-vector
4848

49-
50-
% Copyright (C) 1993-2017, by Peter I. Corke
49+
% Copyright (C) 1993-2019 Peter I. Corke
5150
%
52-
% This file is part of The Robotics Toolbox for MATLAB (RTB).
53-
%
54-
% RTB is free software: you can redistribute it and/or modify
55-
% it under the terms of the GNU Lesser General Public License as published by
56-
% the Free Software Foundation, either version 3 of the License, or
57-
% (at your option) any later version.
58-
%
59-
% RTB is distributed in the hope that it will be useful,
60-
% but WITHOUT ANY WARRANTY; without even the implied warranty of
61-
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
62-
% GNU Lesser General Public License for more details.
51+
% This file is part of The Spatial Math Toolbox for MATLAB (SMTB).
6352
%
64-
% You should have received a copy of the GNU Leser General Public License
65-
% along with RTB. If not, see <http://www.gnu.org/licenses/>.
53+
% Permission is hereby granted, free of charge, to any person obtaining a copy
54+
% of this software and associated documentation files (the "Software"), to deal
55+
% in the Software without restriction, including without limitation the rights
56+
% to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
57+
% of the Software, and to permit persons to whom the Software is furnished to do
58+
% so, subject to the following conditions:
59+
%
60+
% The above copyright notice and this permission notice shall be included in all
61+
% copies or substantial portions of the Software.
62+
%
63+
% THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
64+
% IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
65+
% FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
66+
% COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
67+
% IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
68+
% CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
6669
%
67-
% http://www.petercorke.com
70+
% https://github.com/petercorke/spatial-math
6871

6972
% NOTES
7073
% working: constructor, origin-distance, plane+volume intersect, plot, .L
@@ -127,7 +130,7 @@
127130
opt.type = {'points', 'planes', 'Pw', 'wv', 'UQ'};
128131
[opt,args] = tb_optparse(opt, varargin);
129132

130-
assert(length(args) == 2, 'RTB:Plucker:badarg', 'expecting two vectors');
133+
assert(length(args) == 2, 'SMTB:Plucker:badarg', 'expecting two vectors');
131134

132135
% get the two arguments
133136
A = args{1}; A = A(:);
@@ -138,26 +141,26 @@
138141
% handle various options
139142
switch opt.type
140143
case 'points'
141-
assert( isvec(A,3) && isvec(B,3), 'RTB:Plucker:badarg', 'expecting 3-vectors');
144+
assert( isvec(A,3) && isvec(B,3), 'SMTB:Plucker:badarg', 'expecting 3-vectors');
142145
% compute direction and moment
143146
pl.w = A - B;
144147
pl.v = cross(A-B, A);
145148
case 'planes'
146-
assert( isvec(A,4) && isvec(B,4), 'RTB:Plucker:badarg', 'expecting 4-vectors');
149+
assert( isvec(A,4) && isvec(B,4), 'SMTB:Plucker:badarg', 'expecting 4-vectors');
147150
pl.w = cross(A(1:3), B(1:3));
148151
pl.v = B(4)*A(1:3) - A(4)*B(1:3);
149152
case 'wv'
150-
assert( isvec(A,3) && isvec(B,3), 'RTB:Plucker:badarg', 'expecting 3-vectors');
153+
assert( isvec(A,3) && isvec(B,3), 'SMTB:Plucker:badarg', 'expecting 3-vectors');
151154
pl.w = A;
152155
pl.v = B;
153156
case 'Pw'
154-
assert( isvec(A,3) && isvec(B,3), 'RTB:Plucker:badarg', 'expecting 3-vectors');
157+
assert( isvec(A,3) && isvec(B,3), 'SMTB:Plucker:badarg', 'expecting 3-vectors');
155158
% pl.P = B;
156159
% pl.Q = A+B;
157160
pl.w = B;
158161
pl.v = cross(pl.w, A);
159162
otherwise
160-
error('RTB:Plucker:badarg', 'unknown argument type');
163+
error('SMTB:Plucker:badarg', 'unknown argument type');
161164
end
162165
end
163166

@@ -179,15 +182,15 @@
179182
% reciprocal product
180183
z = dot(a1.uw, a2.v) + dot(a2.uw, a1.v);
181184
elseif isa(a1, 'Plucker') && isfloat(a2)
182-
assert(numrows(a2) == 4, 'RTB:Plucker:badarg', 'must postmultiply by 4xN matrix');
185+
assert(numrows(a2) == 4, 'SMTB:Plucker:badarg', 'must postmultiply by 4xN matrix');
183186
z = a1.skew * a2; % postmultiply by 4xN
184187
elseif isfloat(a1) && isa(a2, 'Plucker')
185188
if numcols(a1) == 4
186189
z = a1 * a2.skew; % premultiply by Nx4
187190
elseif all(size(a1) == [6 6])
188191
z = Plucker( a1 * double(a2) ); % premultiply by 6x6 adjoint
189192
else
190-
error('RTB:Plucker:badarg', 'must premultiply by Nx4 matrix');
193+
error('SMTB:Plucker:badarg', 'must premultiply by Nx4 matrix');
191194
end
192195
end
193196
end
@@ -241,7 +244,7 @@
241244
end
242245

243246
function z = L(pl)
244-
warning('RTB:Plucker', 'deprecated: please use skew() method instead');
247+
warning('SMTB:Plucker', 'deprecated: please use skew() method instead');
245248
z = pl.skew();
246249
end
247250

@@ -278,7 +281,7 @@
278281
%
279282
% PL.contains(X) is true if the point X (3x1) lies on the line defined by
280283
% the Plucker object PL.
281-
assert( size(x,1) == 3, 'RTB:Plucker: points must have 3 rows');
284+
assert( size(x,1) == 3, 'SMTB:Plucker: points must have 3 rows');
282285
t = zeros(1, size(x,2), 'logical');
283286
for i=1:size(x,2)
284287
t(i) = norm( cross(x(:,i) - pl.pp, pl.w) ) < 10*eps;
@@ -593,7 +596,7 @@ function plot(lines, varargin)
593596
P = pl.intersect_volume(bounds);
594597

595598
if isempty(P)
596-
warning('RTB:Plucker', 'line does not intersect the plot volume');
599+
warning('SMTB:Plucker', 'line does not intersect the plot volume');
597600
else
598601
plot3(P(1,:), P(2,:), P(3,:), varargin{:});
599602
end
@@ -660,7 +663,7 @@ function disp(pl)
660663
% % See also Plucker.or.
661664
%
662665
% if ~isa(pl2, 'Plucker')
663-
% error('RTB:Plucker:badarg', 'both arguments to | must be Plucker objects');
666+
% error('SMTB:Plucker:badarg', 'both arguments to | must be Plucker objects');
664667
% end
665668
% L1 = pl1.line(); L2 = pl2.line();
666669
%

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