MATLAB: Is the “rotateframe” function not found when searched via “help” or “which -all”

Robotics System Toolbox

Why does the "rotateframe" function not appear to be found when executing either of the following commands?
 >> help rotateframe
 rotateframe not found.
 Use the Help browser search field to search the documentation, or
 type "help help" for help command options, such as help for methods.
 >> which -all rotateframe
 'rotateframe' not found.

Best Answer

This occurs because "rotateframe" is a method of the "quaternion" class. Once the class definition for the "quaternion" class is loaded into memory, e.g. when a "quaternion" object is instantiated into the workspace, then the issue should not occur. To confirm, execute the following commands:
>> quaternion
>> help rotateframe
>> which -all rotateframe
Alternatively, to learn about how to use the "rotateframe" function without the need to instantiate an object of the "quaternion" class, you can either execute the "doc" command to search the documentation for "rotateframe",
>> doc rotateframe
or you can execute the following command to directly return the Help information for "rotateframe":
>> help quaternion.rotateframe
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