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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/REC-html40/loose.dtd"><html><head> <title>Description of plot</title> <meta name="keywords" content="plot"> <meta name="description" content="PLOT Plot a quaternion object"> <meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1"> <meta name="generator" content="m2html © 2003 Guillaume Flandin"> <meta name="robots" content="index, follow"> <link type="text/css" rel="stylesheet" href="../m2html.css"></head><body><a name="_top"></a><div><a href="../index.html">Home</a> > <a href="#">@quaternion</a> > plot.m</div><!--<table width="100%"><tr><td align="left"><a href="../index.html"><img alt="<" border="0" src="../left.png"> Master index</a></td><td align="right"><a href="index.html">Index for ./@quaternion <img alt=">" border="0" src="../right.png"></a></td></tr></table>--><h1>plot</h1><h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="box"><strong>PLOT Plot a quaternion object</strong></div><h2><a name="_synopsis"></a>SYNOPSIS <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="box"><strong>function plot(Q, off, fmt, color) </strong></div><h2><a name="_description"></a>DESCRIPTION <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="fragment"><pre class="comment">PLOT Plot a quaternion object PLOT(Q) Display the quaternion as a rotated coordinate frame. SEE ALSO: <a href="quaternion.html" class="code" title="function q = quaternion(a1, a2)">QUATERNION</a></pre></div><!-- crossreference --><h2><a name="_cross"></a>CROSS-REFERENCE INFORMATION <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2>This function calls:<ul style="list-style-image:url(../matlabicon.gif)"></ul>This function is called by:<ul style="list-style-image:url(../matlabicon.gif)"></ul><!-- crossreference --><h2><a name="_source"></a>SOURCE CODE <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="fragment"><pre>0001 <span class="comment">%PLOT Plot a quaternion object</span>0002 <span class="comment">%</span>0003 <span class="comment">% PLOT(Q)</span>0004 <span class="comment">%</span>0005 <span class="comment">% Display the quaternion as a rotated coordinate frame.</span>0006 <span class="comment">%</span>0007 <span class="comment">% SEE ALSO: QUATERNION</span>0008 0009 <span class="comment">% Copyright (C) 1999-2008, by Peter I. Corke</span>0010 <span class="comment">%</span>0011 <span class="comment">% This file is part of The Robotics Toolbox for Matlab (RTB).</span>0012 <span class="comment">%</span>0013 <span class="comment">% RTB is free software: you can redistribute it and/or modify</span>0014 <span class="comment">% it under the terms of the GNU Lesser General Public License as published by</span>0015 <span class="comment">% the Free Software Foundation, either version 3 of the License, or</span>0016 <span class="comment">% (at your option) any later version.</span>0017 <span class="comment">%</span>0018 <span class="comment">% RTB is distributed in the hope that it will be useful,</span>0019 <span class="comment">% but WITHOUT ANY WARRANTY; without even the implied warranty of</span>0020 <span class="comment">% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>0021 <span class="comment">% GNU Lesser General Public License for more details.</span>0022 <span class="comment">%</span>0023 <span class="comment">% You should have received a copy of the GNU Leser General Public License</span>0024 <span class="comment">% along with RTB. If not, see <http://www.gnu.org/licenses/>.</span>0025 0026 <a name="_sub0" href="#_subfunctions" class="code">function plot(Q, off, fmt, color)</a>0027 <span class="comment">%axis([-1 1 -1 1 -1 1])</span>0028 0029 <span class="keyword">if</span> nargin < 2,0030 off = [0 0 0];0031 <span class="keyword">end</span>0032 <span class="keyword">if</span> nargin < 3,0033 fmt = <span class="string">'%c'</span>;0034 <span class="keyword">end</span>0035 <span class="keyword">if</span> nargin < 4,0036 color = <span class="string">'b'</span>;0037 <span class="keyword">end</span>0038 <span class="comment">% create unit vectors</span>0039 o = [0 0 0]';0040 x1 = Q*[1 0 0]';0041 y1 = Q*[0 1 0]';0042 z1 = Q*[0 0 1]';0043 0044 get(gca, <span class="string">'Tag'</span>)0045 <span class="keyword">if</span> strcmp(get(gca, <span class="string">'Tag'</span>), <span class="string">'trplot'</span>) == 0,0046 fprintf(<span class="string">'No tag\n'</span>);0047 clf0048 axes0049 set(gca, <span class="string">'Tag'</span>, <span class="string">'trplot'</span>)0050 fprintf(<span class="string">'set tag\n'</span>);0051 xlabel( <span class="string">'X'</span>);0052 ylabel( <span class="string">'Y'</span>);0053 zlabel( <span class="string">'Z'</span>);0054 <span class="keyword">end</span>0055 ih = ishold;0056 hold on0057 plot3([0;x1(1)]+off(1), [0; x1(2)]+off(2), [0; x1(3)]+off(3), color);0058 h = text(off(1)+x1(1), off(2)+x1(2), off(3)+x1(3), sprintf(fmt, <span class="string">'X'</span>));0059 set(h, <span class="string">'Color'</span>, color);0060 0061 plot3([0;y1(1)]+off(1), [0; y1(2)]+off(2), [0; y1(3)]+off(3), color);0062 h = text(off(1)+y1(1), off(2)+y1(2), off(3)+y1(3), sprintf(fmt, <span class="string">'Y'</span>));0063 set(h, <span class="string">'Color'</span>, color);0064 0065 plot3([0;z1(1)]+off(1), [0; z1(2)]+off(2), [0; z1(3)]+off(3), color);0066 h = text(off(1)+z1(1), off(2)+z1(2), off(3)+z1(3), sprintf(fmt, <span class="string">'Z'</span>));0067 set(h, <span class="string">'Color'</span>, color);0068 grid on0069 <span class="keyword">if</span> ~ishold,0070 hold off0071 <span class="keyword">end</span>0072 axis equal</pre></div><hr><address>Generated on Sun 15-Feb-2009 18:09:29 by <strong><a href="http://www.artefact.tk/software/matlab/m2html/">m2html</a></strong> © 2003</address></body></html>⌨️ 快捷键说明
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