Verify plane equation perpendicular to vector

9 次查看（过去 30 天）
RoboTomo
RoboTomo 2022-8-18
回答： Chunru 2022-8-18
When robot gripper is in certain position I have to get a plane equation perpendicular to approach vector.
My code is following:
%% Plot approach vector
approach_vec=[-0.616490990166493, 0.492703172483058, -0.614151807673533]; %Approach vector
t=[-0.234045440283085, -0.520172447189332, -0.042211687615712]; %Approach vector origin
X=t(1);
Y=t(2);
Z=t(3);
U1=approach_vec(1);
V1=approach_vec(2);
W1=approach_vec(3);
quiver3(X,Y,Z,U1,V1,W1,'Color','#0072BD','linewidth',5,'AutoScale','on','AutoScaleFactor',1,'ShowArrowHead','on','Marker','.',MarkerEdgeColor='#D95319');
hold on;
%% Plot PLANE ABCD
A=approach_vec(1);
B=approach_vec(2);
C=approach_vec(3);
x1=t(1);
y1=t(2);
z1=t(3);
D=-(A*x1+B*y1+C*z1);
[x y] = meshgrid(-1:0.05:1); % Generate x and y data
z = -1/C*(A*x + B*y + D); % Solve for z data
surf(x,y,z); %Plot the surface
hold on; axis equal; plane=[A,B,C,D];
Plot and everything looks ok, but elements of this plane equation (A B C D) are input to some other function in which I get errors so I would like to get confirmation that this calculation is correct based on input data, because just maybe I am missing something.

请先登录，再回答此问题。

采纳的回答

Chunru
Chunru 2022-8-18
Ran in:
Your code is correct. Here is a slighly simplified and improved(?) version.
%% Plot approach vector
approach_vec=[-0.616490990166493, 0.492703172483058, -0.614151807673533]; %Approach vector
t=[-0.234045440283085, -0.520172447189332, -0.042211687615712]; %Approach vector origin
quiver3(t(1),t(2),t(3),approach_vec(1),approach_vec(2), approach_vec(3), ...
'Color','#0072BD','linewidth',5,'AutoScale','on','AutoScaleFactor',1,'ShowArrowHead','on','Marker','.',MarkerEdgeColor='#D95319');
hold on;
%% Plot PLANE ABCD
A=approach_vec(1);
B=approach_vec(2);
C=approach_vec(3);
% A(x−a)+B(y−b)+C(z−c) = 0 where approach_vec=[A B C] and t=[a b c]
D = - approach_vec(:)'*t(:); % D=-(Aa+Bb+Cc)
[x y] = meshgrid(-1:0.05:1); % Generate x and y data
z = -1/C*(A*x + B*y + D); % Solve for z data
surf(x,y,z, 'EdgeColor', 'none', 'FaceAlpha', 0.7); %Plot the surface
hold on; axis equal;
xlabel('x'); ylabel('y'); zlabel('z');
plane=[A,B,C,D];

更多回答（0 个）

类别

在 Help Center 和 File Exchange 中查找有关 Surface and Mesh Plots 的更多信息

标签

产品


版本

R2021b

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by