plotTrajectory

Plot set of trajectories in trajectory plotter

Since R2021a

Syntax

plotTrajectory(trajPlotter,trajCoordList)

Description

plotTrajectory(trajPlotter,trajCoordList) specifies the trajectories to show in the trajectory plotter, trajPlotter. The input argument trajCoordList is a cell array of M-by-3 matrices, where M is the number of points in the trajectory. Each matrix in trajCoordList can have a different number of rows. The first, second, and third columns of each matrix correspond to the x-, y-, and z-coordinates of a curve through M points that represent the corresponding trajectory.

Examples

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Moving Platform on Trajectory in `radarScenario`

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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`trajPlotter` — Trajectory plotter
`trajectoryPlotter` object

Trajectory plotter, specified as a trajectoryPlotter object.

`trajCoordList` — Coordinates of trajectories
cell array

Coordinates of trajectories to show, specified as a cell array of M-by-3 matrices, where M is the number of points in the trajectory. Each matrix in trajCoordList can have a different number of rows. The first, second, and third columns of each matrix correspond to the x-, y-, and z-coordinates of a curve through M points that represent the corresponding trajectory.

Example: coordList = {[1 2 3; 4 5 6; 7,8,9];[4 2 1; 4 3 1];[4 4 4; 3 1 2; 9 9 9; 1 0 2]} specifies three different trajectories.