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Data Processing and Visualization

Convert coordinate frames, generate trajectories, visualize point clouds and transformations

Use the data processing and visualization functions as utility functions that convert between different coordinate systems, generate trajectories from waypoints, or visualize data like point clouds or UAV poses.


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axang2quatConvert axis-angle rotation to quaternion
axang2rotmConvert axis-angle rotation to rotation matrix
axang2tformConvert axis-angle rotation to homogeneous transformation
angdiffDifference between two angles
cart2homConvert Cartesian coordinates to homogeneous coordinates
hom2cartConvert homogeneous coordinates to Cartesian coordinates
trvec2tformConvert translation vector to homogeneous transformation
eul2quatConvert Euler angles to quaternion
eul2rotmConvert Euler angles to rotation matrix
eul2tformConvert Euler angles to homogeneous transformation
se2SE(2) homogeneous transformation
se3SE(3) homogeneous transformation
tform2axangConvert homogeneous transformation to axis-angle rotation
tform2eulExtract Euler angles from homogeneous transformation
tform2quatExtract quaternion from homogeneous transformation
tform2rotmExtract rotation matrix from homogeneous transformation
tform2trvecExtract translation vector from homogeneous transformation
enu2llaTransform local east-north-up coordinates to geodetic coordinates
lla2enuTransform geodetic coordinates to local east-north-up coordinates
lla2nedTransform geodetic coordinates to local north-east-down coordinates
ned2llaTransform local north-east-down coordinates to geodetic coordinates
quat2axangConvert quaternion to axis-angle rotation
quat2eulConvert quaternion to Euler angles
quat2rotmConvert quaternion to rotation matrix
quat2tformConvert quaternion to homogeneous transformation
quaternionCreate a quaternion array
so2SO(2) rotation
so3SO(3) rotation
rotm2axangConvert rotation matrix to axis-angle rotation
rotm2eulConvert rotation matrix to Euler angles
rotm2quatConvert rotation matrix to quaternion
rotm2tformConvert rotation matrix to homogeneous transformation
pointCloudObject for storing 3-D point cloud
pcplayerVisualize streaming 3-D point cloud data
plotTransformsPlot 3-D transforms from translations and rotations
waypointTrajectoryWaypoint trajectory generator
lookupPoseObtain pose information for certain time
waypointInfoGet waypoint information table
perturbApply perturbations to object
perturbationsPerturbation defined on object
minjerkpolytrajGenerate minimum jerk trajectory through waypoints
minsnappolytrajGenerate minimum snap trajectory through waypoints


Coordinate Transformation ConversionConvert to a specified coordinate transformation representation
Minimum Jerk Polynomial TrajectoryGenerate minimum jerk polynomial trajectories through multiple waypoints
Minimum Snap Polynomial TrajectoryGenerate minimum snap polynomial trajectories through multiple waypoints