trplot2
Plot a 2D coordinate frame
TRPLOT2(T, OPTIONS) draws a 2D coordinate frame represented by the SE(2) homogeneous transform T (3×3).
H = TRPLOT2(T, OPTIONS) as above but returns a handle.
TRPLOT(R, OPTIONS) as above but the coordinate frame is rotated about the origin according to the orthonormal rotation matrix R (2×2).
H = TRPLOT(R, 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 (3×3).
Options
'handle',h | Update the specified handle |
'axhandle',A | Draw in the MATLAB axes specified by the axis handle A |
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'color', c | The color to draw the axes, MATLAB ColorSpec |
'axes' | Show the MATLAB axes, box and ticks (default true) |
'axis',A | Set dimensions of the MATLAB axes to A=[xmin xmax ymin ymax] |
'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. |
'framelabeloffset',O | Offset O=[DX DY] frame labels in units of text box height |
'text_opts', opt | A cell array of Matlab text properties |
'length',s | Length of the coordinate frame arms (default 1) |
'thick',t | Thickness of lines (default 0.5) |
'text' | Enable display of X,Y,Z labels on the frame (default true) |
'labels',L | Label the X,Y,Z axes with the 1st and 2nd character of the string L |
'arrow' | Use arrows rather than line segments for the axes |
'width', w | Width of arrow tips |
'lefty' | Draw left-handed frame (dangerous) |
Examples
trplot2(T, 'frame', 'A') trplot2(T, ‘frame’, ‘A’, ‘color’, ‘b’) trplot2(T1, ‘frame’, ‘A’, ‘text_opts’, {‘FontSize’, 10, ‘FontWeight’, ‘bold’})
Notes
- Multiple frames can be added using the HOLD command
- When animating a coordinate frame it is best to set the axis bounds initially.
- The ‘arrow’ option requires https://www.mathworks.com/matlabcentral/fileexchange/14056-arrow3