tion, map building and simultaneous localization and mapping (SLAM).
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The Toolbox makes strong use of classes to represent robots and such things as sensors and maps.
It includes Simulink models to describe the evolution of robot state over time for a number of classical control
strategies. The Toolbox also provides functions for manipulating and converting between datatypes such as vectors, homogeneous transformations and unit-quaternions which are necessary to represent  position and orientation in