show

Show transform tree

Since R2020b

Syntax

hAx = show(frames)

hAx = show(frames,timestamp)

hAx = show(___,Name,Value)

Description

hAx = show(frames) displays the transform tree at the last timestamp in the sequence.

hAx = show(frames,timestamp) displays the transform tree at the specified timestamp. If the specified time is not specified in the transform tree, frames, the function performs interpolation using a constant velocity assumption for linear motion, and spherical linear interpolation (SLERP) for angular motion.

hAx = show(___,Name,Value) specifies additional options specified by one or more name-value pair arguments.

Input Arguments

frames — Transform tree defining the child-parent frame relationship at given timestamps

transformTree object

Transform tree defining the child-parent frame relationship at given timestamps, specified as a transformTree object.

timestamp — Time for querying the frames

scalar in seconds | vector

Time for querying the frames, specified as a scalar or vector of scalars in seconds. If the given time is not specified in the transform tree, frames, the function performs interpolation using a constant velocity assumption for linear motion, and spherical linear interpolation (SLERP) for angular motion. For timestamps specified after the last timestamp, the most recent (largest timestamp) transformation is returned.

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: 'ShowArrow',true draws arrows between parent to child frames

ShowArrow — Draw arrows from parent to child frames

false (default) | true

Draw arrows from parent to child frames, specified as true or false.

Data Types: logical

FrameSizes — Axis sizes for frames

struct("root",1) (default) | structure

Axis sizes for frames, specified as a structure. Specify each frame name as a the field with a scalar for that frame's relative size.

Example: struct("root",2,"frameA",5)

Data Types: struct

FrameNames — Frames to plot

all frames (default) | string scalar | character vector | string array | cell array of character vectors

Frames to plot, specified as a string, character vector, string array, or cell array of character vectors. Use this argument to specify a subset of frame names to display in the figure.

Example: ["Frame1","Frame3","Frame9"]

Data Types: char | string | cell

Parent — Axes on which to plot

Axes object

Axes on which to plot, specified as an Axes object.

Output Arguments

hAx — Axes

Axes object

Axes under which the transform tree is shown, returned as an Axes object. For more information, see Axes Properties.

Version History

Introduced in R2020b