Algorithm (Workflow)

The function plotT2P is designed to plot a homogeneous transformation matrix as a straight line vector. It is part of the SolidGeometry library and was introduced in version 2.1. The function takes a point and optional parameters to customize the plot.

Input Parameters

• p: A point or transformation matrix. It can be a 3x3, 4x4, or 3x4 matrix.
• c: (Optional) Color of the plot. Default is 'g-' (green line).
• s: (Optional) Width of the plot. Default is 10.
• w: (Optional) String for the name. Default is 1.
• N: (Optional) Name of the frame. Default is an empty array.

Algorithm Steps

1. Initialize default values for c, s, w, and N based on the number of input arguments.
2. Determine the size of p to extract the ez vector and the point p:
   • If p is 3x3, set ez to the second column and p to the third column.
   • If p is 4x4 or 3x4, set ez to the third column and p to the fourth column.
   • If p does not match these sizes, use the first optional argument as ez and adjust other parameters accordingly.
3. Ensure p and ez are 3D vectors by appending a zero if they are 2D.
4. Compute the transformation matrix T using the function Tof2P with p and ez.
5. Extract the translation vector t and the ez vector from T.
6. Determine the label zt for the plot based on the presence of N.
7. Plot the line using lplot from t to t + s*ez with the specified color and width.
8. Create a circle using PLcircle and transform it with VLtransT using T.
9. Set the colormap and color limits, then plot the circle using patch.
10. Plot the point t using pplot with a black dot.