plotTrajectory
Plot set of trajectories in trajectory plotter
Description
plotTrajectory(
plots trajectories specified by trajPlotter
,trajCoordList
)trajCoordList
via the trajectory
plotter on a theater plot.
Examples
Plot Trajectories in Theater Plot
Define the coordinates for three trajectories.
coordinates1 = [(1:10)' (2:11)' (11:-1:2)']; coordinates2 = coordinates1 + 1; coordinates3 = coordinates1 + 2;
Create a theaterPlot
object, set the view angles, and create a trajectoryPlotter
object.
tp = theaterPlot;
view(14,50)
trajPlotter = trajectoryPlotter(tp,DisplayName="Trajectories");
Plot the three trajectories.
plotTrajectory(trajPlotter,{coordinates1,coordinates2,coordinates3})
Moving Platform on Trajectory in trackingScenario
This example shows how to create an animation of a platform moving on a trajectory.
First, create a trackingScenario
and add waypoints for a trajectory.
ts = trackingScenario;
height = 100;
d = 1;
wayPoints = [ ...
-30 -25 height;
-30 25-d height;
-30+d 25 height;
-10-d 25 height;
-10 25-d height;
-10 -25+d height;
-10+d -25 height;
10-d -25 height;
10 -25+d height;
10 25-d height;
10+d 25 height;
30-d 25 height;
30 25-d height;
30 -25+d height;
30 -25 height];
Specify a time for each waypoint.
elapsedTime = linspace(0,10,size(wayPoints,1));
Next, create a platform in the tracking scenario and add trajectory information using the trajectory
method.
target = platform(ts); traj = waypointTrajectory('Waypoints',wayPoints,'TimeOfArrival',elapsedTime); target.Trajectory = traj;
Record the tracking scenario to retrieve the platform's trajectory.
r = record(ts); pposes = [r(:).Poses]; pposition = vertcat(pposes.Position);
Create a theater plot to display the recorded trajectory.
tp = theaterPlot('XLim',[-40 40],'YLim',[-40 40]); trajPlotter = trajectoryPlotter(tp,'DisplayName','Trajectory'); plotTrajectory(trajPlotter,{pposition})
Animate using the platformPlotter
.
restart(ts); trajPlotter = platformPlotter(tp,'DisplayName','Platform'); while advance(ts) p = pose(target,'true'); plotPlatform(trajPlotter, p.Position); pause(0.1) end
This animation loops through all the generated plots.
Input Arguments
trajPlotter
— Trajectory plotter
trajectoryPlotter
object
Trajectory plotter, specified as a trajectoryPlotter
object.
trajCoordList
— Coordinates of trajectories
cell array
Coordinates of the trajectories to show, specified as an N-element cell array, where N is the number of trajectories. Each cell element, representing a trajectory, contains an M-by-3 matrices, where M is the number of points in the trajectory. The matrices in different cells can have a different number of rows. The first, second, and third columns of each matrix correspond to the x-, y-, and z-coordinates of the corresponding trajectory.
Example: coordList = {[1 2 3; 4 5 6; 7,8,9];[4 2 1; 4 3 1];[4 4 4; 3 1 2; 9
9 9; 1 0 2]}
specifies three different trajectories.
Version History
Introduced in R2018b
See Also
trajectoryPlotter
| theaterPlot
| clearData
| clearPlotterData
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