% SPInvFA  	   - inverse kinematics for SP with fixed actuators (FA)
% SPInverse	   - inverse kinematics for SP
% SPforward	   - returns forward kinematics for Stewart platform
% SPforFA	   - returns forward kinematics for FA Stewart platform 
% SPModel	   - creates a model of a Stewart platform type manipulator 
% SPmodel2bp	   - returns coordinates of base and platform from model matrix
% SPPlot	   - plots Stewart platform
% SPtr2trpy	   - converts rotation matrix to a translation/rotation vector
% SPtrpy2tr	   - converts translation/rotation to a rotation matrix
% SPdiffTr	   - retunrs derivative of a rotation matrix 
% SPchaserPosition - returns trajectory along a meridian of a sphere
% SPdiffTr	   - retunrs derivative of a rotation matrix
% SPFAJacobian	   - returns the Jacobian for the position of an SPFA
% SPFAerror	   - calculates positional/rotational sensitivity of an SPFA
% rotationMatrix   - returns rotation matrix defined by yaw, pitch and roll
% SPperspective	   - returns perspective projection of a set of points
% batch01	   - displays animation of a FA Stewart Platform 
% batch02	   - forward kinematics
% batch03	   - forward kinematics of Stewart Paltform with FA
% batch04	   - sensitivity analysis for Stewart platform with FA
% batch05	   - plots inverted stewart platform and a sphere
% batch06      - sensitivity analysis for SPFA with some plots
% batch07		- calculates angular error for an SPFA
% batch08	   - retruns positional and orientational error on a grid
% batch09	   - defines dimensions used for SPFA model of the CABG manipulator
% batch12	   - creates M random poses of the gripper.
% batch13	   - verifies algorithms for hand-eye camera calibration
% batch14	   - plots a Stewart Platform and a set of points
% batch15	   - performs hand-eye calibration on actual measurements
% batchplot.m	   - plots Stewart Platforms