trplot gives line not frame with hold on function

[Michael Shenouda]

dear sir

i am trying to plot two frames on the same figure using trplot to plot end effector frame with the camera frame using hold on but it is not working as when i command hold on it is only draw a straight lines not frames, kindly support 

thanks 

[Peter Corke]

Kindly provide information: the code you're using, the graphics that appears, MATLAB and toolbox version.  

peter

[Michael Shenouda]

dear peter 

kindly i am using robotics toolbok 9.10, on matlab 2013a

my code is ;

b=[0,0,1,304.8;0,1,0,0;-1,0,0,508;0,0,0,1]

trplot(b,'color','r')

a=[0.0237,0.9997,-0.0014,-22.5099;-0.9995,0.0238,0.0189,0.5554;0.0190,0.0010,0.9998,146.6948;0,0,0,1]

d=b*a;

trplot(d,'color','g')

my second code is ;

b=[0,0,1,304.8;0,1,0,0;-1,0,0,508;0,0,0,1]

trplot(b,'color','r')

a=[0.0237,0.9997,-0.0014,-22.5099;-0.9995,0.0238,0.0189,0.5554;0.0190,0.0010,0.9998,146.6948;0,0,0,1]

d=b*a;

hold on

trplot(d,'color','g')

i want just to place both frames on the same figure 

thanks

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[Felipe]

Hi, Michael.

The two frames you are trying to plot on the same figure are very distant from each other. If you change the scale of the axis, you can plot both frames on the same figure using "hold on":

b=[0,0,1,304.8;0,1,0,0;-1,0,0,508;0,0,0,1]

a=[0.0237,0.9997,-0.0014,-22.5099;-0.9995,0.0238,0.0189,0.5554;0.0190,0.0010,0.9998,146.6948;0,0,0,1]

d=b*a;

trplot(d,'color','g')

axis([300 455 -50 50 450 550])

hold on

trplot(b,'color','r')

[Peter Corke]

Thanks Felipe,

in the original example from Michael, both frames are rendered, but the axis scaling is locked after the first plot.  If you follow that example with

axis([300 455 -50 50 450 550])

as suggested by Felipe we can see both frames.  They are indeed a long way apart.

Under 2015a I get a warning

Warning: The new value for the Matrix property may cause rendering problems 

> In trplot at 301 

which is due I think to the matrix d having an improper rotation component

>> ishomog(d,1)

ans =

     0

but that's not causing the problem reported.

peter

On Friday, 24 April 2015 02:20:09 UTC+10, Michael Shenouda wrote: