Rewrite README's
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HuanWeng
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@ -4,29 +4,31 @@ This package is the code library for _Modern Robotics: Mechanics, Planning,
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and Control_. [Here](../../doc/MRlib.pdf) is the introduction. For more
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details please see the [website](http://modernrobotics.org/).
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## Installing the Package ##
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### Recommended Installation Instructions ###
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If you'd like to be able to use this package inside of any notebook,
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regardless of the notebook's location on your filesystem, then you can use
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Mathematica's front end to install this package. Use the following steps:
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1. Click `File -> Install...`
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2. Select `Package` for the _Type of Item to Install_
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3. Chose `From File...` for the _Source_
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4. Navigate to the `ModernRobotics.m` and select it as the source for the
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1. Download this package
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2. Click `File -> Install...`
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3. Select `Package` for the _Type of Item to Install_
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4. Chose `From File...` for the _Source_
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5. Navigate to the `ModernRobotics.m` and select it as the source for the
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package
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5. The _Install Name_ should default to `ModernRobotics`; if it doesn't then
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6. The _Install Name_ should default to `ModernRobotics`; if it doesn't then
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fill in the install name to be `ModernRobotics`.
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6. Choose whether you want the package installed for a single user or for all
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7. Choose whether you want the package installed for a single user or for all
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users (may require administrative privileges)
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7. Click `OK`
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8. Click `OK`
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Now from any notebook you should be able to load the library by running:
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### Manual Installation Instructions ###
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```
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<<ModernRobotics`
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```
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If you'd like to uninstall the package, you can just delete the file
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`ModernRobotics.wl` or `ModernRobotics.m` in the following directory.
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If you have any troubles with the front-end installation described above, try
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manually installing the package by copying the `ModernRobotics.m` file into
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the following director.
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```sh
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$MATHPATH/Applications/ModernRobotics/
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@ -40,22 +42,42 @@ common operating systems:
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+ Linux (Debian): `~/.Mathematica/`
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+ Windows: `%APPDATA%\Mathematica\`
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## Loading the Package ##
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## Manual Installation Instructions ##
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After installing the package, load the library from any notebook by running
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If you have any troubles with the front-end installation described above, you
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can try manually installing the package by copying the `ModernRobotics.m`
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file into the same directory mentioned for uninstalling.
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```
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<<ModernRobotics`
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```
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This process is required for any notebook using this package.
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# Using the Package Locally #
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## Using the Package ##
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If you don't want to install the package at all, it is possible to place it
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anywhere on your filesystem and then load it into a notebook using
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After loading the package, you should be able to use any function in the
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package. Taking the function `RotInv` for example, you can check the
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description and usage example of this function by running
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```
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?RotInv
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```
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As mentioned in the function usage example, you can try using this function
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by running
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```
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invR = RotInv[{{0,0,1},{1,0,0},{0,1,0}}]
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```
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You should get the the same output as shown in the function usage example.
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## Using the Package Locally ##
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It is possible to use the package locally without installation. Download and
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place the package anywhere on your filesystem and then run
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```
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SetDirectory["<PATH-TO-DIRECTORY-CONTAINING-ModernRobotics.m>"]
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<<ModernRobotics`
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```
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If the notebook and the package are located in the same directory you could
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@ -63,5 +85,17 @@ use
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```
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SetDirectory[NotebookDirectory[]]
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<<ModernRobotics`
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```
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Note that since the package is not installed, you need to set the directory
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shown above in every notebook in which this package is used. Loading is still
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required before using.
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## Uninstalling the Package ##
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To uninstall the package, delete the file `ModernRobotics.wl` or
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`ModernRobotics.m` in the following directory.
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```sh
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$MATHPATH/Applications/ModernRobotics/
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```
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@ -1,16 +1,44 @@
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# "mr" Matlab Package Instructions #
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# "mr" Matlab Code Library Instructions #
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This package is the code library for _Modern Robotics: Mechanics, Planning,
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and Control_. [Here](../../doc/MRlib.pdf) is the introduction. For more
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details please see the [website](http://modernrobotics.org/).
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This is the code library for _Modern Robotics: Mechanics, Planning, and
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Control_. [Here](../../doc/MRlib.pdf) is the introduction. For more details
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please see the [website](http://modernrobotics.org/).
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To import the package, use `addpath` as
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## Installing the Library ##
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This code library does not need installation.
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## Importing the Library ##
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To import the library, use `addpath` as
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```
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addpath('$FOLDER_PATH/mr')
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```
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where `$FOLDER_PATH` is the path to "mr" directory.
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where `$FOLDER_PATH` is the path to "mr" folder. This process is required for
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any program using this package.
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## Using the Package ##
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After importing the library, you should be able to use any function in the
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library. Taking the function `RotInv` for example, you can check the
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description and usage example of this function by running
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```
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help RotInv
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```
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As mentioned in the function usage example, you can try using this function
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by running
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```
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R = [0, 0, 1; 1, 0, 0; 0, 1, 0];
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invR = RotInv(R);
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```
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You should get the the variable `invR` whose value is the same as the output
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shown in the function usage example.
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To check the function list and which chapter in the book do those functions
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belong to, use `help` as
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@ -19,13 +47,7 @@ belong to, use `help` as
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help mr
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```
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To check more introduction and example of a function, use `help` as
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```
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help $FUNCTION_NAME
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```
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## ##
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## Library Information ##
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Author: Huan Weng, Bill Hunt, Mikhail Todes, Jarvis Schultz
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@ -35,4 +57,4 @@ Package Version: 1.0.0
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Matlab Version: R2017b
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Tested in Matlab R2017b
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Tested in Matlab R2017b
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@ -4,16 +4,61 @@ This package is the code library for _Modern Robotics: Mechanics, Planning,
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and Control_. [Here](../../doc/MRlib.pdf) is the introduction. For more
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details please see the [website](http://modernrobotics.org/).
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To use the package, you can either
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## Installing the Package ##
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* Run `python setup.py build` and `python setup.py install` in the package directory
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### Recommended Method ###
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* Run `pip install modern_robotics` to use pip to install
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Use [pip](https://en.wikipedia.org/wiki/Pip_(package_manager)) to install by
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running
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* Copy `modern_robotics` directory into working directory
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```
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pip install modern_robotics
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```
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If pip is not preinstalled, check
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[here](https://pip.pypa.io/en/stable/installing/) for help of installing pip.
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### Alternative Method ###
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Download the package and run `python setup.py build` and
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`python setup.py install` in the package directory
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## Importing the Package ##
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To import the package, we recommend using
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```
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import modern_robotics as mr
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```
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This process is required for any Python program using this package.
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## Using the Package ##
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After importing the package, you should be able to use any function in the
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package. Taking the function `RotInv` for example, you can check the
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description and usage example of this function by running
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```
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help(mr.RotInv)
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```
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As mentioned in the function usage example, you can try using this function
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by running
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```
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R = np.array([[0, 0, 1],
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[1, 0, 0],
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[0, 1, 0]])
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invR = mr.RotInv(R)
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```
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You should get the the variable `invR` whose value is the same as the output
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shown in the function usage example.
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## Using the Package Locally ##
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It is possible to use the package locally without installation. Download and
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place the package in the working directory. Note that since the package is
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not installed, you need to move the package if the working directory is
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changed. Importing is still required before using.
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