trplot function not plotting a 4x4 matrix

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Hassan Bosha
Hassan Bosha 2020-4-4
回答： George Abrahams 2023-12-14
i'm trying to plot NewDist
but it gives me this error
Error in trplot (line 365)
set(hg, 'Matrix', T);
Error in Untitled3 (line 9)
trplot(NewDist,'view',[15 15])
B = [ 0 1 0 2 ; 1 0 0 4 ; 0 0 1 -6 ; 0 0 0 1];
d = transpose([5 2 6]);
disp(d)
NewDist = transl(d) * B ;
disp(NewDist)
trplot(NewDist,'view',[15 15])

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回答（2 个）

Ameer Hamza
Ameer Hamza 2020-4-4
I guess you are using trplot function from Peter Corke's robotics toolbox. Your rotation matrix
[0 1 0;
1 0 0;
0 0 1];
Is not a valid rotation matrix. See here: https://en.wikipedia.org/wiki/Rotation_matrix#Basic_rotations and https://math.stackexchange.com/a/1022694.
Chang your matrix B like this
B = [ 0 -1 0 2 ;
1 0 0 4 ;
0 0 1 -6 ;
0 0 0 1];
and it will work fine.
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Ameer Hamza
Ameer Hamza 2020-4-5
Can you explain what you are trying to do. It seems like you don't need to use trplot at all. You can try a point in 3D using plot3() command
plot3(1,2,3, '+')
will draw a point at x=1, y=2, and z=3.

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George Abrahams
George Abrahams 2023-12-14
I assume that you want to plot the different coordinate systems, so that you can see the effect of your rotation.
While I'm not familiar with trplot, my plotframe function on File Exchange will do something similar.
You can see a number of examples for that here.

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