draw.m

it is a matlab file foe develop SLAM localization this is a toolbox for develop develop realtime e

%DRAW   Draw differential drive robot.
%   DRAW(R,IDS,COLOR) draws the differential drive robot R into
%   the current figure with color COLOR. Enable and disable
%   display of the identifiers with the flag IDS being 1 or 0.
%   COLOR is a [r g b]-vector or a Matlab color string such as
%   'r' or 'g'.
%
%   DRAW(R,IDS,COLOR,CONTOUR) draws the robot R in color COLOR
%   as a cross without contour when the flag CONTOUR = 0. 
%
%   The robot reference frame is attached to the center of the
%   wheel base such that the x-axis looks forward.
%
%   H = DRAW(...) returns a column vector of handles to all
%   graphic objects of the robot drawing. Remember that not all
%   graphic properties apply to all types of graphic objects.
%   Use FINDOBJ to find and access the individual objects.
%
%   See also DRAWROBOT.

% v.1.0, 12.10.03, Kai Arras, CAS-KTH

function h = draw(varargin);

% Constants
FSIZE  = 0.05;
OFFSET = 0.02;

held = ishold; hold on;
if (nargin == 2) | (nargin == 3),
  
  if nargin == 3,
    r       = varargin{1};
    ids     = varargin{2};              % no ids per default
    color   = varargin{3};
    contour = 1;
    % Use function drawrobot
    h1 = drawrobot(r.x,color,get(r.robot,'formtype'));
  end;
  
  if nargin == 4;
    r       = varargin{1};
    ids     = varargin{2};              % no ids per default
    color   = varargin{3};
    contour = varargin{4};
    if contour,
      type = get(r.robot,'formtype');
    else
      type = 0;
    end;
    % Use function drawrobot
    h1 = drawrobot(r.x,color,type);
  end;
  
  % Draw robot id
  if ids,
    h2 = drawlabel(r.x,int2str(get(r,'id')),FSIZE,OFFSET,color);
  else
    h2 = [];
  end;
  h = cat(1,h1,h2);
  % Restore hold status
  if ~held, hold off; end;
  
else
  disp('robotdd/draw: Wrong number of input arguments');
end;