Main Content

show

Show transform tree

Description

hAx = show(frames) displays the transform tree at the last timestamp in the sequence.

hAx = show(frames,timestamp) displays the transform tree at the specified timestamp. If the specified time is not specified in the transform tree, frames, the function performs interpolation using a constant velocity assumption for linear motion, and spherical linear interpolation (SLERP) for angular motion.

hAx = show(___,Name,Value) specifies additional options specified by one or more Name,Value pair arguments.

Input Arguments

collapse all

Transform tree defining the child-parent frame relationship at given timestamps, specified as a transformTree object.

Time for querying the frames, specified as a scalar or vector of scalars in seconds. If the given time is not specified in the transform tree, frames, the function performs interpolation using a constant velocity assumption for linear motion, and spherical linear interpolation (SLERP) for angular motion. For timestamps specified after the last timestamp, the most recent (largest timestamp) transformation is returned.

Name-Value Arguments

Specify optional comma-separated pairs of Name,Value arguments. Name is the argument name and Value is the corresponding value. Name must appear inside quotes. You can specify several name and value pair arguments in any order as Name1,Value1,...,NameN,ValueN.

Example: 'ShowArrow',true draws arrows between parent to child frames

Draw arrows from parent to child frames, specified as true or false

Data Types: logical

Axis sizes for frames, specified as a structure. Specify each frame name as a the field with a scalar for that frame's relative size.

Example: struct("root",2,"frameA",5)

Data Types: struct

Frames to plot, specified as a string, character vector, string array, or cell array of character vectors. Use this argument to specify a subset of frame names to display in the figure.

Example: ["Frame1","Frame3","Frame9"]

Data Types: char | string | cell

Axes on which to plot, specified as an Axes object.

Output Arguments

collapse all

Axes under which the transform tree is shown, returned as an Axes object. For more information, see Axes Properties.

Introduced in R2020b