orientationPlotter

Create orientation plotter

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Syntax

oPlotter = orientationPlotter(tp)
oPlotter = orientationPlotter(tp,Name,Value)

Description

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

example

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

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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Theater plot, specified as a theaterPlot object.

Name-Value Pair Arguments

Specify optional comma-separated pairs of Name,Value arguments. Name is the argument name and Value is the corresponding value. Name must appear inside quotes. You can specify several name and value pair arguments in any order as Name1,Value1,...,NameN,ValueN.

Example: 'HistoryDepth',6

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'

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

ValueDescription
'o'Circle
'+'Plus sign
'*'Asterisk
'.'Point
'x'Cross
'_'Horizontal line
'|'Vertical line
'square' or 's'Square
'diamond' or 'd'Diamond
'^'Upward-pointing triangle
'v'Downward-pointing triangle
'>'Right-pointing triangle
'<'Left-pointing triangle
'pentagram' or 'p'Five-pointed star (pentagram)
'hexagram' or 'h'Six-pointed star (hexagram)
'none'No markers

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

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'.

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'.

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

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.

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 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.

See Also

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Introduced in R2018b

Sensor Fusion and Tracking Toolbox Documentation

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