orientationPlotter

Create orientation plotter

Syntax

oPlotter = orientationPlotter(tp)

oPlotter = orientationPlotter(tp,Name,Value)

Description

oPlotter = orientationPlotter(tp) creates an orientation plotter for use with the theater plot tp.

oPlotter = orientationPlotter(tp,Name,Value) creates an orientation plotter with additional options specified by one or more Name,Value pair arguments.

Examples

Show Orientation of Oscillating Device

This example shows how to animate the orientation of an oscillating device.

Load rpy_9axis.mat. The data in rpy_9axis.mat is recorded accelerometer, gyroscope, and magnetometer sensor data from a device oscillating in pitch (around y-axis), then yaw (around z-axis), then roll (around x-axis). The device's x-axis was pointing southward when recorded.

ld = load('rpy_9axis.mat')

ld = struct with fields:
            Fs: 200
    sensorData: [1x1 struct]

Set the sampling frequency. Extract the accelerometer and gyroscope data. Set the decimation factor to 2. Use fuse to create an indirect Kalman sensor fusion filter from the data.

accel = ld.sensorData.Acceleration;
gyro = ld.sensorData.AngularVelocity;    
Fs  = ld.Fs;
decim = 2;
fuse = imufilter('SampleRate',Fs,'DecimationFactor',decim);

Obtain the pose information of the fused data.

pose = fuse(accel,gyro);

Create a theater plot. Add to the theater plot an orientation plotter with 'DisplayName' set to 'Fused Data' and 'LocalAxesLength' set to 2.

tp = theaterPlot('XLimit',[-2 2],'YLimit',[-2 2],'ZLimit',[-2 2]);
op = orientationPlotter(tp,'DisplayName','Fused Data',...
    'LocalAxesLength',2);

Loop through the pose information to animate the changing orientation.

for i=1:numel(pose)
    plotOrientation(op, pose(i))
    drawnow
end

Input Arguments

tp — Theater plot

theaterPlot object

Theater plot, specified as a theaterPlot object.

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is 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 enclose Name in quotes.

Example: 'HistoryDepth',6

DisplayName — Plot name to display in legend

character vector | string scalar

Plot name to display in legend, specified as the comma-separated pair consisting of 'DisplayName' and a character vector or string scalar. If no name is specified, no entry is shown.

Example: 'DisplayName','Radar Detections'

HistoryDepth — Number of previous track updates to display

0 (default) | nonnegative integer less than or equal to 100

Number of previous track updates to display, specified as the comma-separated pair consisting of 'HistoryDepth' and a nonnegative integer less than or equal to 100. If set to 0, then no previous updates are rendered.

Marker — Marker symbol

'o' (default) | character vector | string scalar

Marker symbol, specified as the comma-separated pair consisting of 'Marker' and one of these symbols.

Marker	Description	Resulting Marker
"o"	Circle
"+"	Plus sign
"*"	Asterisk
"."	Point
"x"	Cross
"_"	Horizontal line
"|"	Vertical line
"square"	Square
"diamond"	Diamond
"^"	Upward-pointing triangle
"v"	Downward-pointing triangle
">"	Right-pointing triangle
"<"	Left-pointing triangle
"pentagram"	Pentagram
"hexagram"	Hexagram
"none"	No markers	Not applicable

MarkerSize — Size of marker

10 (default) | positive integer

Size of marker, specified in points as the comma-separated pair consisting of 'MarkerSize' and a positive integer.

MarkerEdgeColor — Marker outline color

'black' (default) | character vector | string scalar | RGB triplet | hexadecimal color code

Marker outline color, specified as the comma-separated pair consisting of 'MarkerEdgeColor' and a character vector, string scalar, an RGB triplet, or a hexadecimal color code. The default color is 'black'.

MarkerFaceColor — Marker fill color

'none' (default) | character vector | string scalar | RGB triplet | hexadecimal color code

Marker outline color, specified as the comma-separated pair consisting of 'MarkerFaceColor' and a character vector, a string scalar, an RGB triplet, a hexadecimal color code, or 'none'. The default is 'none'.

FontSize — Font size for labeling tracks

10 (default) | positive integer

Font size for labeling tracks, specified as the comma-separated pair consisting of 'FontSize' and a positive integer that represents font point size.

LabelOffset — Gap between label and positional point

[0 0 0] (default) | three-element row vector

Gap between label and positional point it annotates, specified as the comma-separated pair consisting of 'LabelOffset' and a three-element row vector. Specify the [x y z] offset in meters.

LocalAxesLength — Length of line

1 (default) | positive scalar

Length of line used to denote each of the local x-, y-, and z-axes of the given orientation, specified as the comma-separated pair consisting of 'LocalAxesLength' and a positive scalar. 'LocalAxesLength' is in meters.

Tag — Tag to associate with the plotter

'PlotterN' (default) | character vector | string scalar

Tag to associate with the plotter, specified as the comma-separated pair consisting of 'Tag' and a character vector or string scalar. The default value is 'PlotterN', where N is an integer that corresponds to the Nth plotter associated with the theaterPlot.

Tags provide a way to identify plotter objects, for example when searching using findPlotter.

Version History

Introduced in R2018b