M-File Help: trprint View code for trprint

trprint

Compact display of homogeneous transformation

trprint(T, options) displays the homogoneous transform in a compact single-line format. If T is a homogeneous transform sequence then each element is printed on a separate line.

s = trprint(T, options) as above but returns the string.

trprint T is the command line form of above, and displays in RPY format.

Options

'rpy' display with rotation in roll/pitch/yaw angles (default)
'euler' display with rotation in ZYX Euler angles
'angvec' display with rotation in angle/vector format
'radian' display angle in radians (default is degrees)
'fmt', f use format string f for all numbers, (default %g)
'label', l display the text before the transform

Examples

>> trprint(T2)
t = (0,0,0), RPY = (-122.704,65.4084,-8.11266) deg
>> trprint(T1, 'label', 'A')
A:t = (0,0,0), RPY = (-0,0,-0) deg

See also

tr2eul, tr2rpy, tr2angvec


 

© 1990-2012 Peter Corke.