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.
Peter Corke (2020). Spatial Math Toolbox (https://www.github.com/petercorke/spatial-math), GitHub. Retrieved .
Corke, Peter. Robotics, Vision and Control. Springer International Publishing, 2017, doi:10.1007/978-3-319-54413-7.