%PLOTFRAME plot coordinate frame % Draws coordinate axes of unit length specified by transformation T, % labels axes as x, y, and z % % Syntax: plotframe(T) % % Inputs: % T - transformtion % Author: Travis Hydzik % Last revision: 19 October 2004 function plotframe(T) % origin o = T*[0 0 0 1]'; % x axis x = o + T*[1 0 0 0]'; line([o(1) x(1)], [o(2) x(2)], [o(3) x(3)]); text(x(1), x(2), x(3), 'x'); % y axis y = o + T*[0 1 0 0]'; line([o(1) y(1)], [o(2) y(2)], [o(3) y(3)]); text(y(1), y(2), y(3), 'y'); % z axis z = o + T*[0 0 1 0]'; line([o(1) z(1)], [o(2) z(2)], [o(3) z(3)]); text(z(1), z(2), z(3), 'z');