M-File Help: trprint | View code for trprint |
Compact display of homogeneous transformation
trprint(T, options) displays the homogoneous transform in a compact single-line format. If T is a homogeneous transform sequence then each element is printed on a separate line.
s = trprint(T, options) as above but returns the string.
trprint T is the command line form of above, and displays in RPY format.
'rpy' | display with rotation in ZYX roll/pitch/yaw angles (default) |
'xyz' | change RPY angle sequence to XYZ |
'yxz' | change RPY angle sequence to YXZ |
'euler' | display with rotation in ZYZ Euler angles |
'angvec' | display with rotation in angle/vector format |
'radian' | display angle in radians (default is degrees) |
'fmt', f | use format string f for all numbers, (default %g) |
'label', l | display the text before the transform |
>> trprint(T2) t = (0,0,0), RPY/zyx = (-122.704,65.4084,-8.11266) deg
>> trprint(T1, 'label', 'A')
A:t = (0,0,0), RPY/zyx = (-0,0,-0) deg
© 1990-2014 Peter Corke.