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Spatial Math Toolbox

version 1.0.0 (5.35 MB) by Peter Corke
Spatial math primitives for MATLAB


Updated 03 May 2020

GitHub view license on GitHub

This Toolbox contains functions and classes to represent orientation and pose in 2D and 3D (SO(2), SE(2), SO(3), SE(3)) as orthogonal and homogeneous transformation matrices, quaternions, twists, triple angles, and matrix exponentials. The Toolbox also provides functions for manipulating these datatypes, converting between them, composing them, transforming points and graphically displaying them.

Much of this Toolbox functionality was previously in the Robotics Toolbox for MATLAB.

Cite As

Peter Corke (2020). Spatial Math Toolbox (, GitHub. Retrieved .

Corke, Peter. Robotics, Vision and Control. Springer International Publishing, 2017, doi:10.1007/978-3-319-54413-7.

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Comments and Ratings (2)

I had trouble with the documentation - not sure how to use the "doc" folder. Users should definitely read "". You can use a text editor such as wordpad, but you really need to use a "markdown file viewer" (Google this topic). You can also view by dragging the file into your browser. To do this in Chrome, first go to the chrome web store, <>. Search on "markdown". Select "Markdown Viewer" (there could be other available selections, and these might work too.). Select "Add to Chrome". While in Chrome, do Settings -> Extensions. Select "Details" on Markdown Viewer. If you don't see Markdown Viewer, you didn't add it to Chrome yet. In Details, turn on "Allow access to file URLs" in order to turn on Peter Corke's links.

Now, simply drag into the Chrome browser and enjoy. Note that, as of today, the link to the PDF-format manual is broken. You can go to GitHub and get Peter Corke's Robotics Toolbox for MATLAB. This package includes his 462 page Robotics Toolbox for MATLAB manual which includes many of the functions in the Spatial Math Toolbox.

MATLAB Release Compatibility
Created with R2018b
Compatible with any release
Platform Compatibility
Windows macOS Linux