plotOrientation

Plot set of orientations in orientation plotter

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Syntax

plotOrientation(oPlotter,orientations)
plotOrientation(oPlotter,roll,pitch,yaw)
plotOrientation(oPlotter,___,positions)
plotOrientation(oPlotter,___,positions,labels)

Description

example

plotOrientation(oPlotter,orientations) specifies the orientations of M objects to show for the orientation plotter, oPlotter. The orientations argument can be either an M-by-1 array of quaternions, or a 3-by-3-by-M array of rotation matrices.

plotOrientation(oPlotter,roll,pitch,yaw) specifies the orientations of M objects to show for the orientation plotter, oPlotter. The arguments roll, pitch, and yaw are M-by-1 vectors measured in degrees.

plotOrientation(oPlotter,___,positions) also specifies the positions of the objects as an M-by-3 matrix. Each column of positions corresponds to the x-, y-, and z-coordinates of the object locations, respectively.

plotOrientation(oPlotter,___,positions,labels) also specifies the labels as an M-by-1 cell array of character vectors that correspond to the M orientations.

Examples

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Open Live Script

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

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Orientation plotter, specified as an orientationPlotter object.

Orientations of M objects, specified as either an M-by-1 array of quaternions, or a 3-by-3-by-M array of rotation matrices.

Roll, pitch, and yaw angles defining the orientations of M objects, specified as M-by-1 vectors. Angles are measured in degrees.

Object positions, specified as an M-by-3 real-valued matrix, where M is the number of objects. Each column of the matrix corresponds to the x-, y-, and z-coordinates of the objects locations in meters. The default value of positions is at the origin.

Object labels, specified as a M-by-1 cell array of character vectors, where M is the number of objects. labels contains the text labels corresponding to the M objects specified in positions. If labels is omitted, no labels are plotted.

See Also

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Introduced in R2018b

Sensor Fusion and Tracking Toolbox Documentation

Support