Algorithm (Workflow)

This function, KMplot, is designed to plot all parts of a kinematic model. The kinematic model is represented as a cell list with each entry containing solid geometry, a name, and a 4x4 transformation matrix.

Input Parameters

• KM: The kinematic model, which is a structured cell list. Each element of the list includes:
  • Solid Geometry: A struct with a vertex list (VL) and a facet list (FL).
  • Name: A string representing the name of the solid geometry.
  • 4x4-Matrix: A transformation matrix for the geometry.
• varargin: Optional parameters. The first optional parameter is the color for plotting, defaulting to 'r' (red) if not specified.

Algorithm Steps

1. Initialize the color c to 'r'. If a color is provided as an additional argument, update c with this value.
2. Determine the number of solid geometries in the kinematic model by evaluating length(KM.SG).
3. Iterate over each solid geometry in the kinematic model:
   • For each solid geometry, check if the corresponding transformation matrix KM.BT{i} is not the identity matrix eye(4).
   • If the transformation matrix is not the identity matrix, call the function SGplot with the following parameters:
     • KM.SG{i}: The solid geometry to be plotted.
     • c: The color for plotting.
     • An empty array [] as a placeholder for additional parameters.
     • KM.BT{i}: The transformation matrix to apply to the solid geometry.

The function relies on the SGplot function to handle the actual plotting of each solid geometry, applying the specified transformation matrix and color.