Added welcome banner

petercorke · petercorke · commit eddcf366a845 · 2008-04-06T11:52:44.000Z
diff --git a/robotics-toolbox-python/robot/__init__.py b/robotics-toolbox-python/robot/__init__.py
@@ -45,3 +45,76 @@
 #from puma560akb import *
 #from stanford import *
 #from twolink import *
+
+print """
+Robotics Toolbox for Python
+Based on Matlab Toolbox Version 7  April-2002
+
+What's new.
+  Readme      - New features and enhancements in this version.
+
+Homogeneous transformations
+  eul2tr      - Euler angle to transform 
+  oa2tr       - orientation and approach vector to transform 
+  rotx        - transform for rotation about X-axis 
+  roty        - transform for rotation about Y-axis 
+  rotz        - transform for rotation about Z-axis 
+  rpy2tr      - roll/pitch/yaw angles to transform 
+  tr2eul      - transform to Euler angles 
+  tr2rot      - transform to rotation submatrix
+  tr2rpy      - transform to roll/pitch/yaw angles
+  transl      - set or extract the translational component of a transform 
+  trnorm      - normalize a transform 
+  
+Quaternions
+  /           - divide quaternion by quaternion or scalar
+  *           - multiply quaternion by a quaternion or vector
+  inv         - invert a quaternion 
+  norm        - norm of a quaternion 
+  plot        - display a quaternion as a 3D rotation
+  qinterp     - interpolate quaternions
+  unit        - unitize a quaternion 
+
+Kinematics
+  diff2tr     - differential motion vector to transform 
+  fkine       - compute forward kinematics 
+  ikine       - compute inverse kinematics 
+  ikine560    - compute inverse kinematics for Puma 560 like arm
+  jacob0      - compute Jacobian in base coordinate frame
+  jacobn      - compute Jacobian in end-effector coordinate frame
+  tr2diff     - transform to differential motion vector 
+  tr2jac      - transform to Jacobian 
+  
+Dynamics
+  accel       - compute forward dynamics
+  cinertia    - compute Cartesian manipulator inertia matrix 
+  coriolis    - compute centripetal/coriolis torque 
+  friction    - joint friction
+  ftrans      - transform force/moment 
+  gravload    - compute gravity loading 
+  inertia     - compute manipulator inertia matrix 
+  itorque     - compute inertia torque 
+  nofriction  - remove friction from a robot object 
+  rne         - inverse dynamics 
+  
+Trajectory generation
+  ctraj       - Cartesian trajectory 
+  jtraj       - joint space trajectory 
+  trinterp    - interpolate transform s
+  
+Graphics
+  drivebot    - drive a graphical  robot 
+  plot        - plot/animate robot 
+  
+Other
+  manipblty   - compute manipulability 
+  unit        - unitize a vector
+
+Creation of robot models.
+  link        - construct a robot link object 
+  puma560     - Puma 560 data 
+  puma560akb  - Puma 560 data (modified Denavit-Hartenberg)
+  robot       - construct a robot object 
+  stanford    - Stanford arm data 
+  twolink     - simple 2-link example 
+"""
