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45 lines
1.4 KiB
45 lines
1.4 KiB
%QPLOT Plot joint angles
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%
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% QPLOT(Q) is a convenience function to plot joint angle trajectories (Mx6) for
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% a 6-axis robot, where each row represents one time step.
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%
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% The first three joints are shown as solid lines, the last three joints (wrist)
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% are shown as dashed lines. A legend is also displayed.
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%
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% QPLOT(T, Q) as above but displays the joint angle trajectory versus time T (Mx1).
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%
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% See also JTRAJ, PLOT.
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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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function qplot(t, q)
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if nargin < 2
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q = t;
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t = (1:numrows(q))';
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end
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clf
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hold on
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plot(t, q(:,1:3))
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plot(t, q(:,4:6), '--')
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grid on
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xlabel('time')
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ylabel('q')
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legend('q1', 'q2', 'q3', 'q4', 'q5', 'q6');
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hold off
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xlim([t(1), t(end)]);
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