Modern_Robotics/packages/Mathematica

"ModernRobotics" Mathematica Package Instructions

Installing the Package

Recommended Installation Instructions

If you'd like to be able to use this package inside of any notebook, regardless of the notebook's location on your filesystem, then you can use Mathematica's front end to install this package. Use the following steps:

1. Download this package
2. Click File -> Install...
3. Select Package for the Type of Item to Install
4. Chose From File... for the Source
5. Navigate to ModernRobotics.m and select it as the source for the package
6. The Install Name should default to ModernRobotics; if it doesn't then fill in the install name to be ModernRobotics
7. Choose whether you want the package installed for a single user or for all users (may require administrative privileges)
8. Click OK

Manual Installation Instructions

If you have any troubles with the front-end installation described above, try manually installing the package by copying the ModernRobotics.m file into the following directory.

$MATHPATH/Applications/ModernRobotics/

The value of $MATHPATH will depend on your system. You can determine it by looking at the $Path variable inside Mathematica. Here are some paths for common operating systems:

• OS-X: ~/Library/Mathematica/
• Linux (Debian): ~/.Mathematica/
• Windows: %APPDATA%\Mathematica\

Loading the Package

After installing the package, load the library from any notebook by running

<<ModernRobotics`

This process is required for any notebook using this package.

Using the Package

After loading the package, you should be able to use any function in the package. Taking the function RotInv for example, you can check the description and usage example of this function by running

?RotInv

As mentioned in the function usage example, you can try using this function by running

invR = RotInv[{{0,0,1},{1,0,0},{0,1,0}}]

You should get the the same output as shown in the function usage example.

Using the Package Locally

It is possible to use the package locally without installation. Download and place the package anywhere on your filesystem and then run

SetDirectory["<PATH-TO-DIRECTORY-CONTAINING-ModernRobotics.m>"]

If the notebook and the package are located in the same directory you could use

SetDirectory[NotebookDirectory[]]

Note that since the package is not installed, you need to set the directory shown above in every notebook in which this package is used. Loading is still required before using.

Uninstalling the Package

To uninstall the package, delete the file ModernRobotics.wl or ModernRobotics.m in the following directory.

$MATHPATH/Applications/ModernRobotics/