lwr_server/lwrserv/matlab/rvctools/robot/trplot2.m

%TRPLOT2 Plot a planar transformation
%
% TRPLOT2(T, OPTIONS) draws a 2D coordinate frame represented by the SE(2)
% homogeneous transform T (3x3).
%
% H = TRPLOT2(T, OPTIONS) as above but returns a handle.
%
% TRPLOT2(H, T) moves the coordinate frame described by the handle H to
% the SE(2) pose T (3x3).
%
% Options::
% 'axis',A           Set dimensions of the MATLAB axes to A=[xmin xmax ymin ymax]
% 'color', c         The color to draw the axes, MATLAB colorspec
% 'noaxes'           Don't display axes on the plot
% 'frame',F          The frame is named {F} and the subscript on the axis labels is F.
% 'text_opts', opt   A cell array of Matlab text properties
% 'handle', h        Draw in the MATLAB axes specified by h
% 'view',V           Set plot view parameters V=[az el] angles, or 'auto' 
%                    for view toward origin of coordinate frame
% 'arrow'            Use arrows rather than line segments for the axes
% 'width', w         Width of arrow tips
%
% Examples::
%
%       trplot(T, 'frame', 'A')
%       trplot(T, 'frame', 'A', 'color', 'b')
%       trplot(T1, 'frame', 'A', 'text_opts', {'FontSize', 10, 'FontWeight', 'bold'})
%
% Notes::
% - The arrow option requires the third party package arrow3.
% - Generally it is best to set the axis bounds
%
% See also TRPLOT.


% Copyright (C) 1993-2011, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for Matlab (RTB).
% 
% RTB is free software: you can redistribute it and/or modify
% it under the terms of the GNU Lesser General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% (at your option) any later version.
% 
% RTB is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
% GNU Lesser General Public License for more details.
% 
% You should have received a copy of the GNU Leser General Public License
% along with RTB.  If not, see <http://www.gnu.org/licenses/>.

%   'frame', name   name of the frame, used for axis subscripts and origin
%   'color', color  Matlab color specificication for the frame and annotations
%   'noaxes'        show the frame but no Matlab axes
%   'arrow'         use the contributed arrow3 function to draw the frame axes
%   'width', width  width of lines to draw if using arrow3

function hout = trplot2(T, varargin)

    if isscalar(T) && ishandle(T)
        % trplot(H, T)
        H = T; T = varargin{1};
        set(H, 'Matrix', se2t3(T));
        return;
    end

    opt.color = 'b';
    opt.axes = true;
    opt.axis = [];
    opt.frame = [];
    opt.text_opts = [];
    opt.view = [];
    opt.width = 1;
    opt.arrow = false;
    opt.handle = [];

    opt = tb_optparse(opt, varargin);

    if isempty(opt.text_opts)
        opt.text_opts = {};
    end
    if isempty(opt.axis)
        if all(size(T) == [3 3]) || norm(transl(T)) < eps
            c = transl(T);
            d = 1.2;
            opt.axis = [c(1)-d c(1)+d c(2)-d c(2)+d];
        end
    end

    if ~isempty(opt.handle)
        hax = opt.handle;
        hold(hax);
    else
        ih = ishold;
        if ~ih
            % if hold is not on, then clear the axes and set scaling
            cla
            if ~isempty(opt.axis)
                axis(opt.axis);
            end
            %axis equal
            
            if opt.axes
                xlabel( 'X');
                ylabel( 'Y');
            end
        end
        hax = gca;
        hold on
    end

    % create unit vectors
    o =  [0 0 1]'; o = o(1:2);
    x1 = [1 0 1]'; x1 = x1(1:2);
    y1 = [0 1 1]'; y1 = y1(1:2);
    
    % draw the axes
    
    mstart = [o o]';
    mend = [x1 y1]';
    
    hg = hgtransform('Parent', hax);
    if opt.arrow
        % draw the 2 arrows
        S = [opt.color num2str(opt.width)];
        ha = arrow3(mstart, mend, S);
        for h=ha'
            set(h, 'Parent', hg);
        end
    else
        for i=1:2
            plot2([mstart(i,1:2); mend(i,1:2)], 'Color', opt.color, 'Parent', hg);
        end
    end

    % label the axes
    if isempty(opt.frame)
        fmt = '%c';
    else
        fmt = sprintf('%%c_{%s}', opt.frame);
    end
    
    % add the labels to each axis
    h = text(x1(1), x1(2), sprintf(fmt, 'X'), 'Parent', hg);
    if ~isempty(opt.text_opts)
        set(h, opt.text_opts{:});
    end
    if opt.arrow
        set(h, 'Parent', hg);
    end

    h = text(y1(1), y1(2), sprintf(fmt, 'Y'), 'Parent', hg);
    if ~isempty(opt.text_opts)
        set(h, opt.text_opts{:});
    end
    if opt.arrow
        set(h, 'Parent', hg);
    end

    % label the frame
    if ~isempty(opt.frame)
        h = text(o(1)-0.04*x1(1), o(2)-0.04*y1(2), ...
            ['\{' opt.frame '\}'], 'Parent', hg);
        set(h, 'VerticalAlignment', 'middle', ...
            'HorizontalAlignment', 'center', opt.text_opts{:});
    end
    
    if ~opt.axes
        set(gca, 'visible', 'off');
    end
    grid on
    if ~ih
        hold off
    end
    
    % now place the frame in the desired pose
    set(hg, 'Matrix', se2t3(T));

    if nargout > 0
        hout = hg;
    end
end

function T3 = se2t3(T2)
    T3 = [T2(1:2,1:2) zeros(2,1) T2(1:2,3); 0 0 1 0; 0 0 0 1];
end