SGTswap

by Tim C. Lueth, SG-Lib Toolbox: SolidGeometry 5.6 - Kinematics and Frames
Introduced first in SolidGeometry 4.9, Creation date: 2020-07-31, Last change: 2025-09-14

Swaps two frames of a Solid

See Also: SGTget , SGTset

Example Illustration

Syntax

SGN=SGTswap(SG,FA,FB);

Input Parameter

`SG`:		Solid
`FA`:		Frame name A
`FB`:		Frame name B

Output Parameter

SGN: Solid with swapped frame names

Examples


SG=SGcylinder(10,40); SG=SGTset(SG,'F',TofFS(SG,[0 0 1]));  SG=SGTset(SG,'B',TofFS(SG,[0 0 -1]));
SGTswap(SG,'F','B')

Copyright 2020-2025 Tim C. Lueth. All rights reserved. The code is the property of Tim C. Lueth and may not be redistributed or modified without explicit written permission. This software may be used free of charge for academic research and teaching purposes only. Commercial use, redistribution, modification, or reverse engineering is strictly prohibited. Access to source code is restricted and granted only under specific agreements. For licensing inquiries or commercial use, please contact: Tim C. Lueth

Algorithm (Workflow)

This algorithm is designed to swap two frames of a solid object in a 3D space. It is part of the SolidGeometry library and is used for kinematics and frame manipulation.

Input Parameters

SG: The solid object whose frames are to be swapped.
FA: The name of the first frame to be swapped.
FB: The name of the second frame to be swapped.

Output

SGN: The solid object with the frames swapped.

Algorithm Steps

Initialize SGN as a copy of SG.
Retrieve the transformation matrix of frame FB using SGTget and store it in TB.
Set the transformation matrix of frame FB in SGN to the transformation matrix of frame FA using SGTset.
Set the transformation matrix of frame FA in SGN to TB using SGTset.
If no output is requested (nargout==0), visualize the original and swapped frames:

Create a new figure window with SGfigure.
Set the title of the window to an empty string with SGtitle.
In a subplot, plot the original solid SG with a semi-transparent white color using SGTplotalpha and label it "Original".
In another subplot, plot the swapped solid SGN with a semi-transparent white color using SGTplotalpha and label it with the swapped frame names.

Example Usage

The example provided demonstrates creating a cylinder solid, setting two frames, and then swapping them:

SG = SGcylinder(10, 40);
SG = SGTset(SG, 'F', TofFS(SG, [0 0 1]));
SG = SGTset(SG, 'B', TofFS(SG, [0 0 -1]));
SGTswap(SG, 'F', 'B');

Algorithm explaination created using ChatGPT on 2025-08-18 23:34. (Please note: No guarantee for the correctness of this explanation)

Last html export of this page out of FM database by TL: 2025-09-21