# plotTransforms

Plot 3-D transforms from translations and rotations

## Syntax

``ax = plotTransforms(translations,rotations)``
``ax = plotTransforms(transformations)``
``ax = plotTransforms(___,Name,Value)``

## Description

````ax = plotTransforms(translations,rotations)` draws transform frames in a 3-D figure window using the specified translations `translations`, and rotations, `rotations`. The z-axis always points upward.```
````ax = plotTransforms(transformations)` draws transform frames for the specified SE(2) or SE(3) transformations, `transformations`.```
````ax = plotTransforms(___,Name,Value)` specifies additional options using name-value arguments. Specify multiple name-value arguments to set multiple options.```

## Input Arguments

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xyz-positions specified as a vector or matrix of ```[x y z]``` vectors. Each row represents a new frame to plot with a corresponding orientation in `rotations`.

Example: `[1 1 1; 2 2 2]`

Rotations of xyz-positions specified as a `quaternion` array, N-by-4 matrix of `[w x y z]` quaternion vectors, or an N-element array of `so2` or `so3` objects. N is the total number of rotations, and each element of the array, each row of the matrix or rotation transformation objects represent the rotation of the xyz-positions specified in `translations`.

If `rotations` is an N-element array of `so2` or `so3` objects, each element must be of the same type.

Example: `[1 1 1 0; 1 3 5 0]`

Transformations, specified as an `se2` object, an `se3` object, or an M-element array of `se2` or `se3` objects. M is the total number of transformations.

If you specify `transformations` as an array, each element must be of the same type.

### Name-Value Arguments

Specify optional pairs of arguments as `Name1=Value1,...,NameN=ValueN`, where `Name` is the argument name and `Value` is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Before R2021a, use commas to separate each name and value, and enclose `Name` in quotes.

Example: `'FrameSize',5`

Size of frame and attached meshes, specified as positive numeric scalar.

Color of frames, specified as an RGB triplet or string scalar.

Example: `[0 0 1]` or `"green"`

xyz labels of the coordinate frame, specified as `"off"` to hide the labels or `"on"`to show the labels.

Frame axis labels, specified as a string or N-element array of strings, where N is the total number of frames and each string corresponds to one frame at the same index of the `T`, `translations`, or `rotations`.

xyz labels of the plotting axes, specified as `"off"` to hide the labels or `"on"`to show the labels.

Direction of the positive z-axis of inertial frame, specified as either `"up"` or `"down"`. In the plot, the positive z-axis always points up.

File path of mesh file attached to frames, specified as either a character vector or string scalar. The mesh is attached to each plotted frame at the specified position and orientation. Provided `.stl` are

• `"fixedwing.stl"`

• `"multirotor.stl"`

• `"groundvehicle.stl"`

Example: `'fixedwing.stl'`

Color of attached mesh, specified as an RGB triplet or string scalar.

Example: `[0 0 1]` or `"green"`

Plot view, specified as `"3D"`, `"2D"`, or a three-element vector of the form [x,y,z] that sets the view angle in Cartesian coordinates. The magnitude of x,y, and z are ignored.

Axes used to plot the pose graph, specified as the comma-separated pair consisting of `'Parent'` and either an `Axes` or `UIAxes` object. See `axes` or `uiaxes`.

## Output Arguments

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Axes used to plot the pose graph, specified as the comma-separated pair consisting of `'Parent'` and either an `Axes` or `UIAxes`object. See `axes` or `uiaxes`.

## Version History

Introduced in R2018b