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trplot2

Plot a planar transformation

trplot2(T, options) draws a 2D coordinate frame represented by the SE(2) homogeneous transform T (3x3).

H = trplot2(T, options) as above but returns a handle.

H = trplot2() creates a default frame EYE(2,2) at the origin and returns a handle.

Animation

Firstly, create a plot and keep the the handle as per above.

trplot2(H, T) moves the coordinate frame described by the handle H to the SE(2) pose T (3x3).

Options

'handle', h Update the specified handle
'axis', A Set dimensions of the MATLAB axes to A=[xmin xmax ymin ymax]
'color', c The color to draw the axes, MATLAB colorspec
'noaxes' Don't display axes on the plot
'frame', F The frame is named {F} and the subscript on the axis labels is F.
'framelabel', F The coordinate frame is named {F}, axes have no subscripts.
'text_opts', opt A cell array of Matlab text properties
'axhandle', A Draw in the MATLAB axes specified by A
'view', V Set plot view parameters V=[az el] angles, or 'auto' for view toward origin of coordinate frame
'length', s Length of the coordinate frame arms (default 1)
'arrow' Use arrows rather than line segments for the axes
'width', w Width of arrow tips

Examples

trplot2(T, 'frame', 'A')
trplot2(T, 'frame', 'A', 'color', 'b')
trplot2(T1, 'frame', 'A', 'text_opts', {'FontSize', 10, 'FontWeight', 'bold'})

Notes

See also

trplot


 

© 1990-2014 Peter Corke.