iCub-main
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show_eyes_axes.m
Go to the documentation of this file.
1function show_eyes_axes(Tl,Tr)
2
3figure('color','white');
4view(3);
5grid on;
6hold on;
7
8Tl0=eye(4,4); Tl0(1,4)=-0.034;
9Tr0=eye(4,4); Tr0(1,4)=+0.034;
10
11show_eye(Tl0*eye(4,4),Tl0*Tl);
12show_eye(Tr0*eye(4,4),Tr0*Tr);
13
14
16
17scale=0.005;
18
19% old axes
20x=To(1:3,1);
21y=To(1:3,2);
22z=To(1:3,3);
23p=To(1:3,4);
24
25quiver3(p(1),p(2),p(3),p(1)+x(1),p(2)+x(2),p(3)+x(3),scale,'r--','linewidth',2.0);
26quiver3(p(1),p(2),p(3),p(1)+y(1),p(2)+y(2),p(3)+y(3),scale,'g--','linewidth',2.0);
27quiver3(p(1),p(2),p(3),p(1)+z(1),p(2)+z(2),p(3)+z(3),scale,'b--','linewidth',2.0);
28
29% new axes
30x=Tn(1:3,1);
31y=Tn(1:3,2);
32z=Tn(1:3,3);
33p=Tn(1:3,4);
34
35quiver3(p(1),p(2),p(3),p(1)+x(1),p(2)+x(2),p(3)+x(3),scale,'r','linewidth',2.0);
36quiver3(p(1),p(2),p(3),p(1)+y(1),p(2)+y(2),p(3)+y(3),scale,'g','linewidth',2.0);
37quiver3(p(1),p(2),p(3),p(1)+z(1),p(2)+z(2),p(3)+z(3),scale,'b','linewidth',2.0);
38
39axis equal;
function[xhat, yhat, F, H]
Tl0
show_eye(Tl0 *eye(4, 4), Tl0 *Tl)
function show_eyes_axes(Tl, Tr) figure('color'
grid on
quiver3(p(1), p(2), p(3), p(1)+x(1), p(2)+x(2), p(3)+x(3), scale, 'r--', 'linewidth', 2.0)
function white
old axes x
Tr0
view(3)
axis equal
figure(1) hold on grid on plot(time