Introduction

The Spatial Math Toolbox for MATLAB (SMTB) is free software that provides extensive capabilities to represent position, orientation and pose in 2D and 3D.

This Toolbox underpins the Robotics Toolbox for MATLAB and the Machine Vision Toolbox for MATLAB.

SMTB supports two different representations:

1. Using MATLAB matrices. This has been part of the toolbox for over 20 years and is powerful yet efficient.
2. Using MATLAB classes. This is a more recent capabilty, and trades off some efficiency for readability and type safety.

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