trajectoryPlotter

Create trajectory plotter

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Syntax

trajPlotter = trajectoryPlotter(tp)
trajPlotter = trajectoryPlotter(tp,Name,Value)

Description

trajPlotter = trajectoryPlotter(tp) creates a trajectory plotter for use with the theater plot tp.

example

trajPlotter = trajectoryPlotter(tp,Name,Value) creates a trajectory plotter with additional options specified by one or more Name,Value pair arguments.

Examples

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Open Script

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

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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: 'LineStyle','--'

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'

Trajectory color, specified as the comma-separated pair consisting of 'Color' and a character vector, a string scalar, an RGB triplet, or a hexadecimal color code.

Line style used to plot the trajectory, specified as one of these values.

ValueDescription
':'

Dotted line (default)

'-'

Solid line

'--'

Dashed line

'-.'

Dash-dotted line

Line width of the trajectory, specified in points size as the comma-separated pair consisting of 'LineWidth' and a positive scalar.

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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