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Spatial Math Toolbox

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


Updated 24 Feb 2019

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 (2019). 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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MATLAB Release Compatibility
Created with R2018b
Compatible with any release
Platform Compatibility
Windows macOS Linux