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Merge pull request #820 from robotology/devel
Merge devel in master and release 3.0.0
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,44 @@ | ||
| function frame = plotFrame(transform, axisDimension, lineWidth) | ||
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| %% plotFrame | ||
| % plotFrame adds a 3D frame in the current figure | ||
| % Inputs: | ||
| % - transform: The transform of the frame (4x4 matrix) | ||
| % - axisDimension: The dimension of the axes | ||
| % - lineWidth: The linewidth of the axes | ||
| % Outputs: | ||
| % - A struct that can be used with updateFrame to update the | ||
| % visualization | ||
| % | ||
| % Copyright (C) 2020 Istituto Italiano di Tecnologia (IIT). All rights reserved. | ||
| % This software may be modified and distributed under the terms of the | ||
| % GNU Lesser General Public License v2.1 or any later version. | ||
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| hold on | ||
| parent=gca; | ||
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| frame = struct(); | ||
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| R = transform(1:3, 1:3); | ||
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| or = transform(1:3, 4); | ||
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| p = [or, or, or] + axisDimension * R; | ||
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| frame.axisDimension = axisDimension; | ||
| frame.lineWidth = lineWidth; | ||
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| frame.x = plot3(parent, [or(1) p(1,1)], [or(2) p(2,1)], [or(3) p(3,1)], 'r', 'linewidth', lineWidth); | ||
| frame.y = plot3(parent, [or(1) p(1,2)], [or(2) p(2,2)], [or(3) p(3,2)], 'g', 'linewidth', lineWidth); | ||
| frame.z = plot3(parent, [or(1) p(1,3)], [or(2) p(2,3)], [or(3) p(3,3)], 'b', 'linewidth', lineWidth); | ||
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| p_text = [or, or, or] + axisDimension * 1.25 * R; | ||
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| frame.labels = struct(); | ||
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| frame.labels.x = text(parent, p_text(1,1), p_text(2,1), p_text(3,1), 'x', 'color', 'r'); | ||
| frame.labels.y = text(parent, p_text(1,2), p_text(2,2), p_text(3,2), 'y', 'color', 'g'); | ||
| frame.labels.z = text(parent, p_text(1,3), p_text(2,3), p_text(3,3), 'z', 'color', 'b'); | ||
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| end | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,30 @@ | ||
| function updateFrame(frame, newTransform) | ||
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| %% updateFrame | ||
| % updateFrame updates a 3D frame added with the plotFrame function | ||
| % Inputs: | ||
| % - frame: The struct output by plotFrame | ||
| % - newTransform : The new 3D transformation (4x4 matrix) | ||
| % | ||
| % Copyright (C) 2020 Istituto Italiano di Tecnologia (IIT). All rights reserved. | ||
| % This software may be modified and distributed under the terms of the | ||
| % GNU Lesser General Public License v2.1 or any later version. | ||
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| R = newTransform(1:3, 1:3); | ||
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| or = newTransform(1:3, 4); | ||
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| p = [or, or, or] + frame.axisDimension * R; | ||
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| set(frame.x, 'XData', [or(1) p(1,1)], 'YData', [or(2) p(2,1)], 'ZData', [or(3) p(3,1)]); | ||
| set(frame.y, 'XData', [or(1) p(1,2)], 'YData', [or(2) p(2,2)], 'ZData', [or(3) p(3,2)]); | ||
| set(frame.z, 'XData', [or(1) p(1,3)], 'YData', [or(2) p(2,3)], 'ZData', [or(3) p(3,3)]); | ||
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| p_text = [or, or, or] + frame.axisDimension * 1.25 * R; | ||
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| set(frame.labels.x, 'Position', p_text(1:3,1)); | ||
| set(frame.labels.y, 'Position', p_text(1:3,2)); | ||
| set(frame.labels.z, 'Position', p_text(1:3,3)); | ||
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| end | ||
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2 changes: 1 addition & 1 deletion
2
bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyAlgorithm.m
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,3 +1,3 @@ | ||
| function varargout = ArticulatedBodyAlgorithm(varargin) | ||
| [varargout{1:nargout}] = iDynTreeMEX(1233, varargin{:}); | ||
| [varargout{1:nargout}] = iDynTreeMEX(1235, varargin{:}); | ||
| end |
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