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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.

Options

'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

Examples

>> 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

Notes

See also

tr2eul, tr2rpy, tr2angvec


 

© 1990-2014 Peter Corke.