GitHub

This repository contains two MATLAB classes.

1. UR5Display : A class to visualize a robot model using the corresponding STL files.

2. UR5Kinematics : A wrapper class to compute forward and inverse kinematics solutions via a MEX interface to C++ code.

There are many ways to visualize a robot model in MATLAB. This class does it efficiently by utilizing graphics objects provided by MATLAB. The key advantage is that the robot model can be efficiently articulated by either the callback function or a call to draw_configuration.

More information at GitHub

This a mexified MATLAB wrapper of C++ STL priority queue

This priority queue implementation is simple. Nevertheless, it can be used to keep a "sorted" list of arbitrary objects. Instead of pushing the entire object, we can push only its index. This is done by first storing the objects in MATLAB as you normally would. Then, you can push the index and its priority into the priority queue. When you take an element off the priority queue, you can use the index to find the object. This way, the priority queue given here is quite general.

This implementation keeps the priority queue sorted in descending order. In other words, calling the top_value function returns the largest priority value. You can easily make it operate in ascending order by supplying negative priorities.

More information at GitHub