Data Processing and Visualization

Convert coordinate frames, generate trajectories, visualize point clouds and transformations

Use the data processing and visualization functions as utility functions that convert between different coordinate systems, generate trajectories from waypoints, or visualize data like point clouds or UAV poses.

Functions

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Axis-Angles

`axang2quat`	Convert axis-angle rotation to quaternion
`axang2rotm`	Convert axis-angle rotation to rotation matrix
`axang2tform`	Convert axis-angle rotation to homogeneous transformation

Coordinate Conversions

`angdiff`	Difference between two angles
`cart2hom`	Convert Cartesian coordinates to homogeneous coordinates
`hom2cart`	Convert homogeneous coordinates to Cartesian coordinates
`trvec2tform`	Convert translation vector to homogeneous transformation

Euler Angles

`eul2quat`	Convert Euler angles to quaternion
`eul2rotm`	Convert Euler angles to rotation matrix
`eul2tform`	Convert Euler angles to homogeneous transformation

Homogeneous Transformations

`tform2axang`	Convert homogeneous transformation to axis-angle rotation
`tform2eul`	Extract Euler angles from homogeneous transformation
`tform2quat`	Extract quaternion from homogeneous transformation
`tform2rotm`	Extract rotation matrix from homogeneous transformation
`tform2trvec`	Extract translation vector from homogeneous transformation

Latitude, Longitude, NED, and ENU

`enu2lla`	Transform local east-north-up coordinates to geodetic coordinates
`lla2enu`	Transform geodetic coordinates to local east-north-up coordinates
`lla2ned`	Transform geodetic coordinates to local north-east-down coordinates
`ned2lla`	Transform local north-east-down coordinates to geodetic coordinates

Quaternions

`quat2axang`	Convert quaternion to axis-angle rotation
`quat2eul`	Convert quaternion to Euler angles
`quat2rotm`	Convert quaternion to rotation matrix
`quat2tform`	Convert quaternion to homogeneous transformation
`quaternion`	Create a quaternion array

Rotation Matrices

`rotm2axang`	Convert rotation matrix to axis-angle rotation
`rotm2eul`	Convert rotation matrix to Euler angles
`rotm2quat`	Convert rotation matrix to quaternion
`rotm2tform`	Convert rotation matrix to homogeneous transformation

Point Clouds

`pointCloud`	Object for storing 3-D point cloud
`pcplayer`	Visualize streaming 3-D point cloud data

Plot Transformations

plotTransforms Plot 3-D transforms from translations and rotations

Waypoint Trajectories

`waypointTrajectory`	Waypoint trajectory generator
`lookupPose`	Obtain pose information for certain time
`waypointInfo`	Get waypoint information table
`perturb`	Apply perturbations to object
`perturbations`	Perturbation defined on object
`minjerkpolytraj`	Generate minimum jerk trajectory through waypoints
`minsnappolytraj`	Generate minimum snap trajectory through waypoints

Blocks

Coordinate Transformation Conversion

Convert to a specified coordinate transformation representation

Topics

Choose a 3-D Coordinate System

Choose a coordinate transformation function based on your data.

Featured Examples

Plan Minimum Snap Trajectory for Quadrotor

Plan a minimum snap trajectory (minimum control effort) for a multirotor unmanned aerial vehicle (UAV) from a start pose to a goal pose on a 3D map by using the optimized rapidly exploring random tree (RRT*) path planner.

Open Live Script

UAV Toolbox Documentation

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