plotL
by Tim C. Lueth, SG-Lib Toolbox: SolidGeometry 5.6 - Visualization
Introduced first in SolidGeometry 1.0, Creation date: 2010-08-09, Last change: 2025-09-14
plots a HT-matrix as straight line
See Also: pplot
, lplot
, tfplot
, tlplot
, slplot
, plotTP
, plotT
Example Illustration
Syntax
plotL(T,[c,s,w,N])
Input Parameter
T: | | HT matrix |
c: | | color, default = 'g-.' |
s: | | size, default = 10 |
w: | | width, default = 2 |
N: | | Text string |
Copyright 2010-2025 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 function, plotL, is designed to plot a homogeneous transformation (HT) matrix as a straight line. It is part of the SolidGeometry library and was created by Tim Lueth.
Input Parameters
- T: The HT matrix, which is a 4x4 matrix used in robotics and computer graphics to represent transformations.
- c: The color of the line. The default value is 'm-.', which represents a magenta dash-dot line.
- s: The size of the line. The default value is 10.
- w: The width of the line. The default value is 2.
- N: A text string that can be used for labeling or additional information. The default is an empty string.
Algorithm Steps
- Initialize default values for the parameters
c, s, w, and N.
- Check if additional arguments are provided using
nargin and update the parameters if they are not empty.
- Extract the translation vector
t from the HT matrix T using the first three elements of the fourth column.
- Extract the z-axis direction vector
ez from the HT matrix T using the first three elements of the third column.
- Call the function
lplot with the following parameters:
- Start point:
t - s * ez
- End point:
t + s * ez
- Color:
c
- Width:
w
- Marker size:
s / 10
- Empty string for additional options
- Text string
N for labeling
Algorithm explaination created using ChatGPT on 2025-08-18 23:16. (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