show

Visualize the UAV trajectory

Syntax

AX = show(traj)

AX = show(___,Name=Value)

Description

AX = show(traj) visualizes the UAV trajectory in 3-D. The visualization includes the waypoints, velocity direction at each waypoint, flight trajectory and UAV body frames along flight trajectory.

AX = show(___,Name=Value) specifies options using one or more name-value arguments. For example, show(traj,NumSamples=300) draws 300 body frames for the UAV.

Examples

Create and Query UAV Flight Trajectory

Create a set of waypoints for both the multirotor and the fixed-wing UAV to follow.

wpts = [0  0  0;
        2  2 -2;
       10 10 -3;
       12 12 -6];
numwpts = size(wpts);

Specify additional trajectory information, such as desired velocities, accelerations, jerks, snaps, and yaws, as well as start time, an end time, and times of arrival.

vels = 2*ones(numwpts);
accs = ones(numwpts);
jerks = zeros(numwpts);
snaps = zeros(numwpts);
yaws = zeros(1,numwpts(1));
starttime = 0;
endtime = 8;
toas = linspace(starttime,endtime,numwpts(1));

Use the trajectory information to create the flight trajectories for the multirotor and the fixed-wing UAVs. Query and display the trajectories.

mrft = multirotorFlightTrajectory(wpts,vels,accs,jerks,snaps,yaws,toas);
fwft = fixedwingFlightTrajectory(wpts,vels,toas);
query(mrft,1:4)

ans = 4×16

    1.6184    1.6184    0.7520   -0.0243   -0.0243   -2.8758   -4.6045   -4.6045   -9.1669    0.9863   -0.1179    0.1147   -0.0137    0.0732   -0.0732   -0.0000
    1.0236    1.0236   -2.7807    0.5482    0.5482   -0.6198    3.9704    3.9704    8.6424    0.7429    0.5559   -0.2987   -0.2235   -1.3257    1.3257         0
    2.7277    2.7277   -1.2947    2.4069    2.4069    2.1026    1.7442    1.7442   -1.3857    0.9941    0.0770   -0.0761   -0.0059    0.1950   -0.1950         0
    6.4028    6.4028   -2.0972    4.4609    4.4609   -3.8447   -1.1875   -1.1875   -1.1875    0.9971   -0.0537    0.0534   -0.0029   -1.2364    1.2364   -0.0000

query(fwft,1:4)

ans = 4×16

    0.9453    0.9453   -0.3203    0.2422    0.2422   -1.8672   -0.7031   -0.7031   -1.5469    0.7098   -0.2450    0.5914    0.2940   -0.4683    0.4683    0.0000
    1.1875    1.1875   -2.1875    0.5938    0.5938   -1.0938    1.4063    1.4062    3.0938    0.8287   -0.1692    0.4085    0.3432    1.7750   -1.7750         0
    2.7813    2.7812   -1.6055    2.6563    2.6562    0.4414    1.6875    1.6875   -4.0078    0.9223    0.0224   -0.0540    0.3820   -0.7962    0.7962   -0.0000
    6.0000    6.0000   -2.5000    3.5000    3.5000   -1.5625   -0.0000   -0.0000    0.0000    0.9131   -0.0583    0.1407    0.3782   -0.0000   -0.0000    0.0000

Visualize both the multirotor flight trajectory and the fixed-wing flight trajectory.

ax = show(mrft,NumSamples=200);
title("Multirotor Flight Trajectory")
view([0 0])

show(fwft,NumSamples=50);
title("Fixed-Wing UAV Flight Trajectory")
view([0 0])

Generate Flight Trajectory for UAV Mission

Create a UAV mission by using the flight plan stored in a .plan file and show the mission.

mission = uavMission(PlanFile="flight.plan");
show(mission);

Create parsers for a multirotor UAV and a fixed-wing UAV.

mrmParser = multirotorMissionParser(TransitionRadius=2,TakeoffSpeed=2);
fwmParser = fixedwingMissionParser(TransitionRadius=15,TakeoffPitch=10);

Generate one flight trajectory using each parser.

mrmTraj = parse(mrmParser,mission);
fwmTraj = parse(fwmParser,mission);

Visualize the mission and the flight trajectories separately.

figure
subplot(1,2,1)
show(mrmTraj);
title("Multirotor Trajectory")
axis square
subplot(1,2,2)
show(fwmTraj);
title("Fixed-Wing Trajectory")
axis square

Plot the mission and flight trajectories overlapping.

figure
show(mission);
hold on
show(mrmTraj);
hold off
title("Mission Using Multirotor Trajectory")
axis square

show(mission);
hold on
show(fwmTraj);
hold off
title("Mission Using Fixed-Wing Trajectory")
axis square

Input Arguments

traj — Flight trajectory

multirotorFlightTrajectory object | fixedwingFlightTrajectory object

Flight trajectory, specified as a multirotorFlightTrajectory or fixedwingFlightTrajectory object.

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Example: show(traj,NumSamples=300) draws 300 body frames for the UAV.

Parent — Parent axes

gca (default) | Axes object

Parent axes, specified as an Axes object.

NumSamples — Number of UAV body frames to draw

100 (default) | positive integer

Number of UAV body frames to draw, specified as a positive integer.

Example: show(traj,NumSamples=300)

StartTime — Start time of trajectory drawing

traj.StartTime (default) | nonnegative numeric scalar

Start time of trajectory drawing, specified as a nonnegative numeric scalar, in seconds.

Example: show(traj,StartTime=2)

EndTime — End time of trajectory drawing

traj.EndTime (default) | positive numeric scalar

End time of trajectory drawing, specified as a positive numeric scalar, in seconds.

Example: show(traj,EndTime=8)

FrameSize — Length of UAV frame axes

1 (default) | positive numeric scalar

Length of the UAV frame axes, specified as a positive numeric scalar, in meters.

Example: show(traj,FrameSize=1.8)

VelocityLineSize — Length of velocity direction lines

1 (default) | nonnegative numeric scalar

Length of the velocity direction lines, specified as a nonnegative numeric scalar, in meters.

Example: show(traj,VelocityLineSize=2.3)

VelocityLineWidth — Width of velocity direction lines

2 (default) | nonnegative numeric scalar

Width of the velocity direction lines, specified as a nonnegative numeric scalar, in meters.

Example: show(traj,VelocityLineWidth=2.3)

Version History

Introduced in R2022b