trajectoryPlotter

Create trajectory plotter

Since R2021a

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Syntax

trajPlotter = trajectoryPlotter(tp)
trajPlotter = trajectoryPlotter(tp,Name,Value)

Description

trajPlotter = trajectoryPlotter(tp) creates a trajectory plotter for use with the theater plot tp.

trajPlotter = trajectoryPlotter(tp,Name,Value) creates a trajectory plotter with additional options specified by one or more Name,Value pair arguments.

Examples

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Open Live Script

Define the coordinates for three trajectories.

coordinates1 = [(1:10)' (2:11)' (11:-1:2)'];
coordinates2 = coordinates1 + 1;
coordinates3 = coordinates1 + 2;

Create a theaterPlot object, set the view angles, and create a trajectoryPlotter object.

tp = theaterPlot;
view(14,50)
trajPlotter = trajectoryPlotter(tp,DisplayName="Trajectories");

Plot the three trajectories.

plotTrajectory(trajPlotter,{coordinates1,coordinates2,coordinates3})

Figure contains an axes object. The axes object with xlabel X (m), ylabel Y (m) contains an object of type line. This object represents Trajectories.

Open Live Script

This example shows how to create an animation of a platform moving on a trajectory.

First, create a radarScenario and add waypoints for a trajectory.

ts = radarScenario;
height = 100;
d = 1;
wayPoints = [ ...
    -30   -25   height;
    -30    25-d height;
    -30+d  25   height;
    -10-d  25   height;
    -10    25-d height;
    -10   -25+d height;
    -10+d -25   height;
    10-d -25   height;
    10   -25+d height;
    10    25-d height;
    10+d  25   height;
    30-d  25   height;
    30    25-d height;
    30   -25+d height;
    30   -25   height];

Specify a time for each waypoint.

elapsedTime = linspace(0,10,size(wayPoints,1));

Next, create a platform in the tracking scenario and add trajectory information using the trajectory method.

target = platform(ts);
traj = waypointTrajectory('Waypoints',wayPoints,'TimeOfArrival',elapsedTime);
target.Trajectory = traj;

Record the tracking scenario to retrieve the platform's trajectory.

r = record(ts);
pposes = [r(:).Poses];
pposition = vertcat(pposes.Position);

Create a theater plot to display the recorded trajectory.

tp = theaterPlot('XLim',[-40 40],'YLim',[-40 40]);
trajPlotter = trajectoryPlotter(tp,'DisplayName','Trajectory');
plotTrajectory(trajPlotter,{pposition})

Figure contains an axes object. The axes object with xlabel X (m), ylabel Y (m) contains an object of type line. This object represents Trajectory.

Animate using the platformPlotter.

restart(ts);
trajPlotter = platformPlotter(tp,'DisplayName','Platform');

while advance(ts)
    p = pose(target,'true');
    plotPlatform(trajPlotter, p.Position);
    pause(0.1)
    
end

Figure contains an axes object. The axes object with xlabel X (m), ylabel Y (m) contains 2 objects of type line. One or more of the lines displays its values using only markers These objects represent Trajectory, Platform.

This animation loops through all the generated plots.

Input Arguments

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Theater plot, specified as a theaterPlot object.

Name-Value Arguments

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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: 'LineStyle','--'

Plot name to display in legend, specified as the comma-separated pair consisting of 'DisplayName' and a character vector or string scalar. If no name is specified, no entry is shown.

Example: 'DisplayName','Radar Detections'

Trajectory color, specified as the comma-separated pair consisting of 'Color' and a character vector, a string scalar, an RGB triplet, or a hexadecimal color code.

Line style used to plot the trajectory, specified as one of these values.

ValueDescription
':'

Dotted line (default)

'-'

Solid line

'--'

Dashed line

'-.'

Dash-dotted line

Line width of the trajectory, specified in points size as the comma-separated pair consisting of 'LineWidth' and a positive scalar.

Tag to associate with the plotter, specified as the comma-separated pair consisting of 'Tag' and a character vector or string scalar. The default value is 'PlotterN', where N is an integer that corresponds to the Nth plotter associated with the theaterPlot.

Tags provide a way to identify plotter objects, for example when searching using findPlotter.

Version History

Introduced in R2021a

See Also

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