M-File Help: plot_vehicle View code for plot_vehicle

plot_vehicle

Draw mobile robot pose

plot_vehicle(x,options) draws an oriented triangle to represent the pose of a mobile robot moving in a planar world. The pose x (1x3) = [x,y,theta]. If x is a matrix (Nx3) then an animation of the robot motion is shown and animated at the specified frame rate.

Animation mode

H = plot_vehicle(x,options) as above draws the robot and returns a handle.

plot_vehicle(x, 'handle', H) updates the pose x (1x3) of the previously drawn robot.

Image mode

plot_vehicle(x, 'image', IMG) where IMG is an RGB image that is scaled and centered on the robot's position. The vertical axis of the image becomes the x-axi in the plot, ie. it is rotated. If you wish to specify the rotation then use

plot_vehicle(x, 'image', {IMG,R}) where R is the counterclockwise rotation angle in degrees.

Options

'scale', S draw vehicle with length S x maximum axis dimension (default 1/60)
'size', S draw vehicle with length S
'fillcolor', F the color of the circle's interior, MATLAB color spec
'alpha', A transparency of the filled circle: 0=transparent, 1=solid
'box' draw a box shape (default is triangle)
'fps', F animate at F frames per second (default 10)
'image', I use an image to represent the robot pose
'retain' when X (Nx3) then retain the robots, leaving a trail
'model', M animate an image of the vehicle. M is a structure with elements: image, alpha, rotation (deg), centre (pix), length (m).

Notes

See also

Vehicle.plot, plot_poly


 

© 1990-2014 Peter Corke.