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trplot

PURPOSE ^

TRPLOT Plot a transformation

SYNOPSIS ^

function trplot(T, name, color)

DESCRIPTION ^

TRPLOT Plot a transformation

   TRPLOT(T)
   TRPLOT(T, name)
   TRPLOT(T, name, color)

 In a set of axes draw a coordinate frame.  The frame can optionally
 be named and have a specified color.

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %TRPLOT Plot a transformation
0002 %
0003 %   TRPLOT(T)
0004 %   TRPLOT(T, name)
0005 %   TRPLOT(T, name, color)
0006 %
0007 % In a set of axes draw a coordinate frame.  The frame can optionally
0008 % be named and have a specified color.
0009 
0010 % Copyright (C) 2008, by Peter I. Corke
0011 %
0012 % This file is part of The Robotics Toolbox for Matlab (RTB).
0013 %
0014 % RTB is free software: you can redistribute it and/or modify
0015 % it under the terms of the GNU Lesser General Public License as published by
0016 % the Free Software Foundation, either version 3 of the License, or
0017 % (at your option) any later version.
0018 %
0019 % RTB is distributed in the hope that it will be useful,
0020 % but WITHOUT ANY WARRANTY; without even the implied warranty of
0021 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
0022 % GNU Lesser General Public License for more details.
0023 %
0024 % You should have received a copy of the GNU Leser General Public License
0025 % along with RTB.  If not, see <http://www.gnu.org/licenses/>.
0026 
0027 function trplot(T, name, color)
0028 
0029     if nargin == 1,
0030         fmt = '%c';
0031     else
0032         fmt = sprintf('%%c%s', name);
0033     end
0034     if nargin < 3,
0035         color = 'b';
0036     end
0037 
0038     q = quaternion(T);
0039     plot(q, transl(T), fmt, color);

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