plotTransforms

从tran绘制3 d变换slations and rotations

Syntax

ax = plotTransforms(translations,rotations)

ax = plotTransforms(translations,rotations,Name,Value)

Description

ax= plotTransforms(translations,rotations)draws transform frames in a 3-D figure window using the specified translations and rotations. Thez-axis always points upward.

ax= plotTransforms(translations,rotations,Name,Value)specifies additional options using name-value pair arguments. Specify multiple name-value pairs to set multiple options.

Input Arguments

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`translations`—xyz-positions
`[x y z]`vector|matrix of`[x y z]`vectors

xyz-positions specified as a vector or matrix of[x y z]vectors. Each row represents a new frame to plot with a corresponding orientation inrotations.

Example:[1 1 1; 2 2 2]

`rotations`—Rotations ofxyz-positions
`quaternion`array|matrix of`[w x y z]`quaternion vectors

Rotations ofxyz-positions specified as aquaternionarray orn-by-4 matrix of[w x y z]quaternion vectors. Each element of the array or each row of the matrix represents the rotation of thexyz-positions specified intranslations.

Example:[1 1 1 0; 1 3 5 0]

Name-Value Arguments

Specify optional pairs of arguments asName1=Value1,...,NameN=ValueN, whereNameis the argument name andValueis the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Before R2021a, use commas to separate each name and value, and encloseNamein quotes.

Example:'FrameSize',5

`FrameSize`—Size of frames and attached meshes
positive numeric scalar

Size of frame and attached meshes, specified as positive numeric scalar.

`InertialZDirection`—Direction of positivez-axis of inertial frame
`"up"`(default) |`"down"`

Direction of the positivez-axis of inertial frame, specified as either"up"or"down". In the plot, the positivez-axis always points up.

`MeshFilePath`—File path of mesh file attached to frames
character vector|string scalar

File path of mesh file attached to frames, specified as either a character vector or string scalar. The mesh is attached to each plotted frame at the specified position and orientation. Provided.stlare

"fixedwing.stl"
"multirotor.stl"
"groundvehicle.stl"

Example:'fixedwing.stl'

`MeshColor`—Color of attached mesh
`"red"`(default) |RGB triplet|string scalar

Color of attached mesh, specified as an RGB triplet or string scalar.

Example:[0 0 1]or"green"

`Parent`—Axes used to plot transforms
`Axes`object|`UIAxes`object

Axes used to plot the pose graph, specified as the comma-separated pair consisting of'Parent'and either anAxesorUIAxesobject. Seeaxesoruiaxes.

Output Arguments

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`ax`— Axes used to plot transforms
`Axes`object |`UIAxes`object

Axes used to plot the pose graph, specified as the comma-separated pair consisting of'Parent'and either anAxesorUIAxesobject. Seeaxesoruiaxes.

Version History

Introduced in R2018b

plotTransforms

Syntax

Description

Input Arguments

translations—xyz-positions[x y z]vector|matrix of[x y z]vectors

rotations—Rotations ofxyz-positionsquaternionarray|matrix of[w x y z]quaternion vectors

Name-Value Arguments

FrameSize—Size of frames and attached meshespositive numeric scalar

InertialZDirection—Direction of positivez-axis of inertial frame"up"(default) |"down"

MeshFilePath—File path of mesh file attached to framescharacter vector|string scalar

MeshColor—Color of attached mesh"red"(default) |RGB triplet|string scalar

Parent—Axes used to plot transformsAxesobject|UIAxesobject