Having difficulty plotting a robot in a patch plot, robot plot is correctly plotted but when added after hold on statement in patch plot, it is not plotted correctly.

4 次查看（过去 30 天）
Ayman Soultana
Ayman Soultana 2023-1-22
回答： Supraja 2023-5-5
%Set up robot
KSetUp;
% KPfadgenerator;
minJerkPath = [];
for i = 1:length(X(indexOfPoints))
test = dataKartesisch(indexOfPoints(i), 2:end);
minJerkPath(end+1,:) = dataKartesisch(indexOfPoints(i), 2:end);
end
% laufbahn(robot,minJerkPath,1,true)
% show(robot,-minJerkPath(1,:),"Visuals","off", "Position",[5,5,5,0])
% show(robot,-minJerkPath(2,:),"Visuals","off", "Position",[8,8,8,0])
% show(robot,-minJerkPath(3,:),"Visuals","off", "Position",[9,9,9,0])
%Configure Figure and plot
fig = figure(1);
subplot(2,2,1)
patch(splineX,splineY,splineZ,splineZ,'FaceColor','none','EdgeColor','interp')
colormap(gca,customColormap(64:192,:));
caxis([min(splineZ) max(splineZ)])
hold on
scatter3(X(indexOfPoints),Y(indexOfPoints),Z(indexOfPoints),50);
for i = 1:length(X(indexOfPoints))
stringNum = num2str(i) + ".";
text(X(indexOfPoints(i)),Y(indexOfPoints(i)), Z(indexOfPoints(i)),stringNum,'FontSize', 15)
end
show(robot,-minJerkPath(1,:), "Position",[X(indexOfPoints(1)),Y(indexOfPoints(1)), Z(indexOfPoints(1)),0],'PreservePlot',true)
hold off
% laufbahn(robot,minJerkPath,1,true)
daspect([1, 1, 1])
xlabel('X-Profil [mm]')
ylabel('Y-Profil [mm]')
zlabel('Z-Profil [mm]')
% xlim(XAxisLimit)
% ylim(YAxisLimit)
% zlim(ZAxisLimit)
title('Bewegungsprofil im globalen Arbeitsraum-KOS')
set(gca, 'XMinorGrid','on', 'YMinorGrid','on')
a = colorbar;
ylabel(a,'Z-Profil [mm]','FontSize',12,'Rotation',270);
a.Label.Position(1) = 5;
view(view3D)
%Set LineWidth for all patch objects
patch_handles = findobj(gcf,'Type','patch'); % find all patch objects in the current figure
for k = 1:length(patch_handles)
set(patch_handles(k),'LineWidth',lineSize); %set the linewidth to 2 for all patch objects
end
end
I am trying to plot a robot in a 3D patch plot in Matlab, but the robot is not appearing correctly. When I click on the patch plot, the graph disappears. I have set up the robot using the rigidBodyTree class and have plotted it using the 'show' function after creating the patch plot. I am unsure what is causing the issue and would like assistance troubleshooting the problem.
  2 个评论
Githin John
Githin John 2023-3-9
Hello,
I tried a simple reproduction using the basic steps you have here. Created a plot with a patch, scatter plot and a rigidBodyTree. I haven't seen any issues yet when interacting with the meshes.
Please provide a working script so I can try to recreate the issue.
Thanks.

请先登录，再进行评论。

请先登录，再回答此问题。

回答（1 个）

Supraja
Supraja 2023-5-5
After you
hold on
you can do
ax = gca;
set(ax, 'XLimMode', 'auto', 'YLimMode', 'auto')
before you draw the new items.
Note: if you set XLimMode or YLimMode to auto after you have added the new data, then MATLAB will typically not rescan the data to determine what it should use.

类别

在 Help Center 和 File Exchange 中查找有关 Manipulator Modeling 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