show

Display 3D vector field histogram

Since R2022b

Syntax

show(vfh3D)

show(vfh3D,Name=Value)

ax = show(___)

Description

show(vfh3D) displays the 3D histogram of the desired direction calculated by the 3DVFH+ algorithm. The figure also includes the UAV position, UAV orientation, obstacle positions, and target position specified to the controllerVFH3D object vfh3D at the most recent object call.

show(vfh3D,Name=Value) specifies options using one or more name-value arguments. For example, show(vfh3D,PlotsToShow="Cost Matrix") displays only the cost matrix plot instead of the default histogram.

ax = show(___) returns the axes handles of all displayed histograms, in addition to any combination of input arguments from previous syntaxes.

Examples

Create 3D Vector Field Histogram Object and Visualize Data

Create a controllerVFH3D object.

vfh3D = controllerVFH3D;

Create obstacles.

az = [-60:-20 20:60]*(pi/180);
el = (-30:30)*(pi/180);
[El,Az] = meshgrid(el,az);

Specify the distances of the obstacles from the sensor, and convert to Cartesian coordinates.

obstacleDist = linspace(15,20,numel(El(:)));
[xSensor,ySensor,zSensor] = sph2cart(Az(:),El(:),obstacleDist');

Align the sensor and histogram frames.

vfh3D.SensorOrientation = [-180 0 0];

Specify the sensor range limits.

vfh3D.DistanceLimits = [0.2 25];

Specify the current UAV position and orientation, the locations of obstacles, and the target position for the UAV.

uavPosition = [0; 0; 0];
uavOrientation = [1; 0; 0; 0];
sensorPoints = [xSensor ySensor zSensor];
targetPosition = [20; 0; 0];

Compute an obstacle-free direction and desired yaw for the UAV, and return the status of the obstacle-free direction.

[desiredDirection,desiredYaw,status] = vfh3D(uavPosition, ...
                                             uavOrientation, ...
                                             sensorPoints, ...
                                             targetPosition);

Visualize the default histogram of the calculated direction.

show(vfh3D)
axis equal

Visualize the 2D memory histogram, 2D inflated histogram, and cost matrix.

figure
ax(1) = subplot(3,1,1);
ax(2) = subplot(3,1,2);
ax(3) = subplot(3,1,3);
show(vfh3D, ...
     Parent=ax, ...
     PlotsToShow=["2D Memory Histogram","2D Inflated Histogram","Cost Matrix"])
axis(ax,"equal")
xlim(ax,"tight")

Input Arguments

vfh3D — 3-D vector field histogram algorithm

controllerVFH3D object

3-D vector field histogram algorithm, specified as a controllerVFH3D object. This object contains properties for tuning the 3DVFH+ algorithm.

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.

Example: show(vfh3D,PlotsToShow="Cost Matrix") shows the cost matrix plot.

Parent — Axes on which to plot histograms

Axes object | array of Axes objects

Axes on which to plot the histograms, specified as an Axes object or an array of Axes objects.

Example: Parent=ax

PlotsToShow — Histogram plots to display

"3D Histogram" (default) | string scalar | string array

Histogram plots to display, specified as a string scalar or string array. Each element must be specified as one of these options: "3D Histogram", "2D Memory Histogram", "2D Inflated Histogram", and "Cost Matrix" or "All".

Example: PlotsToShow="All"

Example: PlotsToShow="2D Memory Histogram"

Example: PlotsToShow=["2D Memory Histogram","Cost Matrix"]

Data Types: string

Output Arguments

ax — Axes handles of 3D vector field histograms

Axes object | array of Axes objects

Axes handles of the 3D vector field histograms, returned as an Axes object or an array of Axes objects.

Version History

Introduced in R2022b