# Getting Started with the Modern Robotics Code Library

Now that you've purchased or downloaded the book, the next thing you will need is the Modern Robotics (MR) code library that accompanies the book.

Visit https://github.com/NxRLab/ModernRobotics and download the software. Included with the download is a pdf manual that describes each of the functions. Each function has an example usage in the comments in the code itself. You should decide which language you would like to use for your programming assignments (Python, Mathematica, or MATLAB [or the free Octave clone]), and try a couple of the examples in the comments to make sure you understand how to use the code, even though you don't (yet!) know the purpose of many of the functions. As an example, in MATLAB, you could enter

se3mat = [ 0, 0, 0, 0; 0, 0, -1.5708, 2.3562; 0, 1.5708, 0, 2.3562; 0, 0, 0, 0]; T = MatrixExp6(se3mat)

and you should get (approximately) the resulting matrix

T = [1, 0, 0, 0; 0, 0, -1, 0; 0, 1, 0, 3; 0, 0, 0, 1]

(Your "zero" values may not be exactly zero.)

Do not proceed until you've downloaded the code, decided on your programming language, and tested the code!