iCub-main
show_eyes_axes.m File Reference

Go to the source code of this file.

## Functions

function show_eyes_axes (Tl, Tr) figure('color'

view (3)

Tl0 (1, 4)

Tr0 (1, 4)

show_eye (Tl0 *eye(4, 4), Tl0 *Tl)

show_eye (Tr0 *eye(4, 4), Tr0 *Tr)

function show_eye (To, Tn) scale=0.005

quiver3 (p(1), p(2), p(3), p(1)+x(1), p(2)+x(2), p(3)+x(3), scale, 'r--', 'linewidth', 2.0)

quiver3 (p(1), p(2), p(3), p(1)+y(1), p(2)+y(2), p(3)+y(3), scale, 'g--', 'linewidth', 2.0)

quiver3 (p(1), p(2), p(3), p(1)+z(1), p(2)+z(2), p(3)+z(3), scale, 'b--', 'linewidth', 2.0)

quiver3 (p(1), p(2), p(3), p(1)+x(1), p(2)+x(2), p(3)+x(3), scale, 'r', 'linewidth', 2.0)

quiver3 (p(1), p(2), p(3), p(1)+y(1), p(2)+y(2), p(3)+y(3), scale, 'g', 'linewidth', 2.0)

quiver3 (p(1), p(2), p(3), p(1)+z(1), p(2)+z(2), p(3)+z(3), scale, 'b', 'linewidth', 2.0)

## Variables

function white

grid on

Tl0 =eye(4,4)

Tr0 =eye(4,4)

old axes x =To(1:3,1)

y =To(1:3,2)

z =To(1:3,3)

p =To(1:3,4)

axis equal

## ◆ quiver3() [1/6]

 quiver3 ( p(1) , p(2) , p(3) , p(1)+x(1) , p(2)+x(2) , p(3)+x(3) , scale , 'r' , 'linewidth' , 2. 0 )

## ◆ quiver3() [2/6]

 quiver3 ( p(1) , p(2) , p(3) , p(1)+x(1) , p(2)+x(2) , p(3)+x(3) , scale , 'r--' , 'linewidth' , 2. 0 )

## ◆ quiver3() [3/6]

 quiver3 ( p(1) , p(2) , p(3) , p(1)+y(1) , p(2)+y(2) , p(3)+y(3) , scale , 'g' , 'linewidth' , 2. 0 )

## ◆ quiver3() [4/6]

 quiver3 ( p(1) , p(2) , p(3) , p(1)+y(1) , p(2)+y(2) , p(3)+y(3) , scale , 'g--' , 'linewidth' , 2. 0 )

## ◆ quiver3() [5/6]

 quiver3 ( p(1) , p(2) , p(3) , p(1)+z(1) , p(2)+z(2) , p(3)+z(3) , scale , 'b' , 'linewidth' , 2. 0 )

## ◆ quiver3() [6/6]

 quiver3 ( p(1) , p(2) , p(3) , p(1)+z(1) , p(2)+z(2) , p(3)+z(3) , scale , 'b--' , 'linewidth' , 2. 0 )

## ◆ show_eye() [1/3]

 show_eye ( Tl0 * eye4, 4, Tl0 * Tl )

## ◆ show_eye() [2/3]

 function show_eye ( To , Tn )
pure virtual

## ◆ show_eye() [3/3]

 show_eye ( Tr0 * eye4, 4, Tr0 * Tr )

## ◆ show_eyes_axes()

 function show_eyes_axes ( Tl , Tr )

## ◆ Tl0()

 Tl0 ( 1 , 4 )

## ◆ Tr0()

 Tr0 ( 1 , 4 )

## ◆ view()

 view ( 3 )

## ◆ equal

 axis equal

Definition at line 39 of file show_eyes_axes.m.

## ◆ on

 hold on

Definition at line 5 of file show_eyes_axes.m.

## ◆ p

 p =To(1:3,4)

Definition at line 23 of file show_eyes_axes.m.

## ◆ Tl0

 Tl0 =eye(4,4)

Definition at line 8 of file show_eyes_axes.m.

## ◆ Tr0

 Tr0 =eye(4,4)

Definition at line 9 of file show_eyes_axes.m.

## ◆ white

 function white

Definition at line 3 of file show_eyes_axes.m.

## ◆ x

 new axes x =To(1:3,1)

Definition at line 20 of file show_eyes_axes.m.

## ◆ y

 y =To(1:3,2)

Definition at line 21 of file show_eyes_axes.m.

## ◆ z

 z =To(1:3,3)

Definition at line 22 of file show_eyes_axes.m.