Institut de Robòtica i Informàtica Industrial

PlotSensor

PURPOSE ^

Plots a sensors.

SYNOPSIS ^

function h=PlotSensor(S,varargin)

DESCRIPTION ^

 Plots a sensors.

 Plots the trajectory as seen from the sensors readings given by 
 sensor, S.

 Two optional parameters are used to
     - Decide wether to plot arrow indicating the orientation of the robot
       at each step. If not given the orientation is not plotted.
     - Select the color of the plotted trajecotry. If not given the
       trajectory is plotted in green.

   Returns the handler of the line representing the trajectory.

CROSS-REFERENCE INFORMATION ^

This function calls:
  • get Get function for robots.
  • get Get function for trajectories.
  • get Get function for EKF filters.
  • get Generic get function for filters.
  • get Get function for TRO filters.
  • get Get function for BTrees.
  • get Get function for PoseData objects.
  • get Get function for Gaussians.
  • PlotPoseSequence Plots a sequence of poses.
  • get Get function for poses.
  • get Generic get for relative positioning sensors
  • get Generic get for sensors
This function is called by:

SOURCE CODE ^

0001 function h=PlotSensor(S,varargin)
0002 % Plots a sensors.
0003 %
0004 % Plots the trajectory as seen from the sensors readings given by
0005 % sensor, S.
0006 %
0007 % Two optional parameters are used to
0008 %     - Decide wether to plot arrow indicating the orientation of the robot
0009 %       at each step. If not given the orientation is not plotted.
0010 %     - Select the color of the plotted trajecotry. If not given the
0011 %       trajectory is plotted in green.
0012 %
0013 %   Returns the handler of the line representing the trajectory.
0014 
0015   if (nargin>1)
0016     c=varargin{1};
0017   else
0018     c='g';
0019     end
0020     if nargin>2
0021     arrows=varargin{2};
0022   else
0023     arrows=false;
0024   end
0025   poses=get(S,'absolutePoses');
0026   h=PlotPoseSequence(poses,c,arrows);


Institut de Robòtica i Informàtica Industrial

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