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45 lines
1.3 KiB
45 lines
1.3 KiB
%PLOT plot a quaternion object as a rotated coordinate frame
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% Ryan Steindl based on Robotics Toolbox for MATLAB (v6 and v9)
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%
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% Copyright (C) 1993-2011, by Peter I. Corke
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%
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% This file is part of The Robotics Toolbox for MATLAB (RTB).
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%
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% RTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% RTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with RTB. If not, see <http://www.gnu.org/licenses/>.
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%
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% http://www.petercorke.com
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% Copright (C) Peter Corke 1999
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function plot(Q)
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axis([-1 1 -1 1 -1 1])
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o = [0 0 0]';
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x1 = Q*[1 0 0]';
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y1 = Q*[0 1 0]';
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z1 = Q*[0 0 1]';
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hold on
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plot3([0;x1(1)], [0; x1(2)], [0; x1(3)])
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text(x1(1), x1(2), x1(3), 'X')
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plot3([0;y1(1)], [0; y1(2)], [0; y1(3)])
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text(y1(1), y1(2), y1(3), 'Y')
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plot3([0;z1(1)], [0; z1(2)], [0; z1(3)])
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text(z1(1), z1(2), z1(3), 'Z')
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grid on
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xlabel('X')
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ylabel('Y')
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zlabel('Z')
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hold off
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