Matlab Implementation of higher-order angular kinematic quantities with dual numbers

A Matlab implementation of classes and functions to compute angular velocity, angular acceleration, angular jerk and angular jounce/snap is presented. Some examples are included.本文提出了一套用于计算角速度（angular velocity）、角加速度（angular acceleration）、角加加速度（angular jerk）以及角加加加速度/急动率（angular jounce/snap）的Matlab类与函数实现方案。 本实现中附带了若干示例程序。