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# trplot2

Plot a planar transformation

trplot2(T, options) draws a 2D coordinate frame represented by the SE(2) homogeneous transform T (3x3).

H = trplot2(T, options) as above but returns a handle.

trplot2(H, T) moves the coordinate frame described by the handle H to the SE(2) pose T (3x3).

## Options

'axis', A | Set dimensions of the MATLAB axes to A=[xmin xmax ymin ymax]
'color', c | The color to draw the axes, MATLAB colorspec
'noaxes' | Don't display axes on the plot
'frame', F | The frame is named {F} and the subscript on the axis labels is F.
'text_opts', opt | A cell array of Matlab text properties
'handle', h | Draw in the MATLAB axes specified by h
'view', V | Set plot view parameters V=[az el] angles, or 'auto' for view toward origin of coordinate frame
'length', s | Length of the coordinate frame arms (default 1)
'arrow' | Use arrows rather than line segments for the axes
'width', w | Width of arrow tips

## Examples

    trplot2(T, 'frame', 'A')
    trplot2(T, 'frame', 'A', 'color', 'b')
    trplot2(T1, 'frame', 'A', 'text_opts', {'FontSize', 10, 'FontWeight', 'bold'})

## Notes

- The arrow option requires the third party package arrow3 from File Exchange.
- When using the form TRPLOT(H, ...) to animate a frame it is best to set the axis bounds.

## See also

trplot

© 1990-2014 Peter Corke.