Add color options to display the stewart platform

src/displayArchitecture.m

@@ -9,6 +9,9 @@ function [] = displayArchitecture(stewart, args)
 %        - AP   [3x1] - The wanted position of {B} with respect to {A}
 %        - ARB  [3x3] - The rotation matrix that gives the wanted orientation of {B} with respect to {A}
 %        - ARB  [3x3] - The rotation matrix that gives the wanted orientation of {B} with respect to {A}
+%        - F_color [color] - Color used for the Fixed elements
+%        - M_color [color] - Color used for the Mobile elements
+%        - L_color [color] - Color used for the Legs elements
 %        - frames    [true/false] - Display the Frames
 %        - legs      [true/false] - Display the Legs
 %        - joints    [true/false] - Display the Joints
@@ -21,6 +24,9 @@ arguments
     stewart
     args.AP  (3,1) double {mustBeNumeric} = zeros(3,1)
     args.ARB (3,3) double {mustBeNumeric} = eye(3)
+    args.F_color = [0 0.4470 0.7410]
+    args.M_color = [0.8500 0.3250 0.0980]
+    args.L_color = [0 0 0]
     args.frames logical {mustBeNumericOrLogical} = true
     args.legs logical {mustBeNumericOrLogical} = true
     args.joints logical {mustBeNumericOrLogical} = true
@@ -47,12 +53,12 @@ d_label = stewart.H/20;
 Ff = [0, 0, 0];
 if args.frames
   quiver3(Ff(1)*ones(1,3), Ff(2)*ones(1,3), Ff(3)*ones(1,3), ...
-          [d_unit_vector 0 0], [0 d_unit_vector 0], [0 0 d_unit_vector], '-', 'Color', [0 0.4470 0.7410])
+          [d_unit_vector 0 0], [0 d_unit_vector 0], [0 0 d_unit_vector], '-', 'Color', args.F_color)
 
   if args.labels
     text(Ff(1) + d_label, ...
         Ff(2) + d_label, ...
-        Ff(3) + d_label, '$\{F\}$', 'Color', [0 0.4470 0.7410]);
+        Ff(3) + d_label, '$\{F\}$', 'Color', args.F_color);
   end
 end
 
@@ -60,12 +66,12 @@ Fa = stewart.FO_A;
 
 if args.frames
   quiver3(Fa(1)*ones(1,3), Fa(2)*ones(1,3), Fa(3)*ones(1,3), ...
-          [d_unit_vector 0 0], [0 d_unit_vector 0], [0 0 d_unit_vector], '-', 'Color', [0 0.4470 0.7410])
+          [d_unit_vector 0 0], [0 d_unit_vector 0], [0 0 d_unit_vector], '-', 'Color', args.F_color)
 
   if args.labels
     text(Fa(1) + d_label, ...
          Fa(2) + d_label, ...
-         Fa(3) + d_label, '$\{A\}$', 'Color', [0 0.4470 0.7410]);
+         Fa(3) + d_label, '$\{A\}$', 'Color', args.F_color);
   end
 end
 
@@ -79,18 +85,18 @@ if args.platforms && isfield(stewart, 'platforms') && isfield(stewart.platforms,
 
   plot3(points(1,:), ...
         points(2,:), ...
-        points(3,:), '-', 'Color', [0 0.4470 0.7410]);
+        points(3,:), '-', 'Color', args.F_color);
 end
 
 if args.joints
   scatter3(stewart.Fa(1,:), ...
            stewart.Fa(2,:), ...
-           stewart.Fa(3,:), 'MarkerEdgeColor', [0 0.4470 0.7410]);
+           stewart.Fa(3,:), 'MarkerEdgeColor', args.F_color);
   if args.labels
     for i = 1:size(stewart.Fa,2)
       text(stewart.Fa(1,i) + d_label, ...
            stewart.Fa(2,i), ...
-           stewart.Fa(3,i), sprintf('$a_{%i}$', i), 'Color', [0 0.4470 0.7410]);
+           stewart.Fa(3,i), sprintf('$a_{%i}$', i), 'Color', args.F_color);
     end
   end
 end
@@ -100,12 +106,12 @@ Fm = FTm*[0; 0; 0; 1]; % Get the position of frame {M} w.r.t. {F}
 if args.frames
   FM_uv = FTm*[d_unit_vector*eye(3); zeros(1,3)]; % Rotated Unit vectors
   quiver3(Fm(1)*ones(1,3), Fm(2)*ones(1,3), Fm(3)*ones(1,3), ...
-          FM_uv(1,1:3), FM_uv(2,1:3), FM_uv(3,1:3), '-', 'Color', [0.8500 0.3250 0.0980])
+          FM_uv(1,1:3), FM_uv(2,1:3), FM_uv(3,1:3), '-', 'Color', args.M_color)
 
   if args.labels
     text(Fm(1) + d_label, ...
          Fm(2) + d_label, ...
-         Fm(3) + d_label, '$\{M\}$', 'Color', [0.8500 0.3250 0.0980]);
+         Fm(3) + d_label, '$\{M\}$', 'Color', args.M_color);
   end
 end
 
@@ -114,12 +120,12 @@ FB = stewart.FO_A + args.AP;
 if args.frames
   FB_uv = FTm*[d_unit_vector*eye(3); zeros(1,3)]; % Rotated Unit vectors
   quiver3(FB(1)*ones(1,3), FB(2)*ones(1,3), FB(3)*ones(1,3), ...
-          FB_uv(1,1:3), FB_uv(2,1:3), FB_uv(3,1:3), '-', 'Color', [0.8500 0.3250 0.0980])
+          FB_uv(1,1:3), FB_uv(2,1:3), FB_uv(3,1:3), '-', 'Color', args.M_color)
 
   if args.labels
     text(FB(1) - d_label, ...
          FB(2) + d_label, ...
-         FB(3) + d_label, '$\{B\}$', 'Color', [0.8500 0.3250 0.0980]);
+         FB(3) + d_label, '$\{B\}$', 'Color', args.M_color);
   end
 end
 
@@ -133,7 +139,7 @@ if args.platforms && isfield(stewart, 'platforms') && isfield(stewart.platforms,
 
   plot3(points(1,:), ...
         points(2,:), ...
-        points(3,:), '-', 'Color', [0.8500 0.3250 0.0980]);
+        points(3,:), '-', 'Color', args.M_color);
 end
 
 if args.joints
@@ -141,13 +147,13 @@ if args.joints
 
   scatter3(Fb(1,:), ...
            Fb(2,:), ...
-           Fb(3,:), 'MarkerEdgeColor', [0.8500 0.3250 0.0980]);
+           Fb(3,:), 'MarkerEdgeColor', args.M_color);
 
   if args.labels
     for i = 1:size(Fb,2)
       text(Fb(1,i) + d_label, ...
            Fb(2,i), ...
-           Fb(3,i), sprintf('$b_{%i}$', i), 'Color', [0.8500 0.3250 0.0980]);
+           Fb(3,i), sprintf('$b_{%i}$', i), 'Color', args.M_color);
     end
   end
 end
@@ -156,12 +162,12 @@ if args.legs
   for i = 1:6
     plot3([stewart.Fa(1,i), Fb(1,i)], ...
           [stewart.Fa(2,i), Fb(2,i)], ...
-          [stewart.Fa(3,i), Fb(3,i)], 'k-');
+          [stewart.Fa(3,i), Fb(3,i)], '-', 'Color', args.L_color);
 
     if args.labels
       text((stewart.Fa(1,i)+Fb(1,i))/2 + d_label, ...
            (stewart.Fa(2,i)+Fb(2,i))/2, ...
-           (stewart.Fa(3,i)+Fb(3,i))/2, sprintf('$%i$', i), 'Color', 'k');
+           (stewart.Fa(3,i)+Fb(3,i))/2, sprintf('$%i$', i), 'Color', args.L_color);
     end
   end
 end

stewart-architecture.org

@@ -950,6 +950,9 @@ This Matlab function is accessible [[file:src/displayArchitecture.m][here]].
   %        - AP   [3x1] - The wanted position of {B} with respect to {A}
   %        - ARB  [3x3] - The rotation matrix that gives the wanted orientation of {B} with respect to {A}
   %        - ARB  [3x3] - The rotation matrix that gives the wanted orientation of {B} with respect to {A}
+  %        - F_color [color] - Color used for the Fixed elements
+  %        - M_color [color] - Color used for the Mobile elements
+  %        - L_color [color] - Color used for the Legs elements
   %        - frames    [true/false] - Display the Frames
   %        - legs      [true/false] - Display the Legs
   %        - joints    [true/false] - Display the Joints
@@ -968,6 +971,9 @@ This Matlab function is accessible [[file:src/displayArchitecture.m][here]].
       stewart
       args.AP  (3,1) double {mustBeNumeric} = zeros(3,1)
       args.ARB (3,3) double {mustBeNumeric} = eye(3)
+      args.F_color = [0 0.4470 0.7410]
+      args.M_color = [0.8500 0.3250 0.0980]
+      args.L_color = [0 0 0]
       args.frames logical {mustBeNumericOrLogical} = true
       args.legs logical {mustBeNumericOrLogical} = true
       args.joints logical {mustBeNumericOrLogical} = true
@@ -1018,12 +1024,12 @@ Let's first plot the frame $\{F\}$.
   Ff = [0, 0, 0];
   if args.frames
     quiver3(Ff(1)*ones(1,3), Ff(2)*ones(1,3), Ff(3)*ones(1,3), ...
-            [d_unit_vector 0 0], [0 d_unit_vector 0], [0 0 d_unit_vector], '-', 'Color', [0 0.4470 0.7410])
+            [d_unit_vector 0 0], [0 d_unit_vector 0], [0 0 d_unit_vector], '-', 'Color', args.F_color)
 
     if args.labels
       text(Ff(1) + d_label, ...
           Ff(2) + d_label, ...
-          Ff(3) + d_label, '$\{F\}$', 'Color', [0 0.4470 0.7410]);
+          Ff(3) + d_label, '$\{F\}$', 'Color', args.F_color);
     end
   end
 #+end_src
@@ -1034,12 +1040,12 @@ Now plot the frame $\{A\}$ fixed to the Base.
 
   if args.frames
     quiver3(Fa(1)*ones(1,3), Fa(2)*ones(1,3), Fa(3)*ones(1,3), ...
-            [d_unit_vector 0 0], [0 d_unit_vector 0], [0 0 d_unit_vector], '-', 'Color', [0 0.4470 0.7410])
+            [d_unit_vector 0 0], [0 d_unit_vector 0], [0 0 d_unit_vector], '-', 'Color', args.F_color)
 
     if args.labels
       text(Fa(1) + d_label, ...
            Fa(2) + d_label, ...
-           Fa(3) + d_label, '$\{A\}$', 'Color', [0 0.4470 0.7410]);
+           Fa(3) + d_label, '$\{A\}$', 'Color', args.F_color);
     end
   end
 #+end_src
@@ -1056,7 +1062,7 @@ Let's then plot the circle corresponding to the shape of the Fixed base.
 
     plot3(points(1,:), ...
           points(2,:), ...
-          points(3,:), '-', 'Color', [0 0.4470 0.7410]);
+          points(3,:), '-', 'Color', args.F_color);
   end
 #+end_src
 
@@ -1065,12 +1071,12 @@ Let's now plot the position and labels of the Fixed Joints
   if args.joints
     scatter3(stewart.Fa(1,:), ...
              stewart.Fa(2,:), ...
-             stewart.Fa(3,:), 'MarkerEdgeColor', [0 0.4470 0.7410]);
+             stewart.Fa(3,:), 'MarkerEdgeColor', args.F_color);
     if args.labels
       for i = 1:size(stewart.Fa,2)
         text(stewart.Fa(1,i) + d_label, ...
              stewart.Fa(2,i), ...
-             stewart.Fa(3,i), sprintf('$a_{%i}$', i), 'Color', [0 0.4470 0.7410]);
+             stewart.Fa(3,i), sprintf('$a_{%i}$', i), 'Color', args.F_color);
       end
     end
   end
@@ -1088,12 +1094,12 @@ Plot the frame $\{M\}$.
   if args.frames
     FM_uv = FTm*[d_unit_vector*eye(3); zeros(1,3)]; % Rotated Unit vectors
     quiver3(Fm(1)*ones(1,3), Fm(2)*ones(1,3), Fm(3)*ones(1,3), ...
-            FM_uv(1,1:3), FM_uv(2,1:3), FM_uv(3,1:3), '-', 'Color', [0.8500 0.3250 0.0980])
+            FM_uv(1,1:3), FM_uv(2,1:3), FM_uv(3,1:3), '-', 'Color', args.M_color)
 
     if args.labels
       text(Fm(1) + d_label, ...
            Fm(2) + d_label, ...
-           Fm(3) + d_label, '$\{M\}$', 'Color', [0.8500 0.3250 0.0980]);
+           Fm(3) + d_label, '$\{M\}$', 'Color', args.M_color);
     end
   end
 #+end_src
@@ -1105,12 +1111,12 @@ Plot the frame $\{B\}$.
   if args.frames
     FB_uv = FTm*[d_unit_vector*eye(3); zeros(1,3)]; % Rotated Unit vectors
     quiver3(FB(1)*ones(1,3), FB(2)*ones(1,3), FB(3)*ones(1,3), ...
-            FB_uv(1,1:3), FB_uv(2,1:3), FB_uv(3,1:3), '-', 'Color', [0.8500 0.3250 0.0980])
+            FB_uv(1,1:3), FB_uv(2,1:3), FB_uv(3,1:3), '-', 'Color', args.M_color)
 
     if args.labels
       text(FB(1) - d_label, ...
            FB(2) + d_label, ...
-           FB(3) + d_label, '$\{B\}$', 'Color', [0.8500 0.3250 0.0980]);
+           FB(3) + d_label, '$\{B\}$', 'Color', args.M_color);
     end
   end
 #+end_src
@@ -1127,7 +1133,7 @@ Let's then plot the circle corresponding to the shape of the Mobile platform.
 
     plot3(points(1,:), ...
           points(2,:), ...
-          points(3,:), '-', 'Color', [0.8500 0.3250 0.0980]);
+          points(3,:), '-', 'Color', args.M_color);
   end
 #+end_src
 
@@ -1138,13 +1144,13 @@ Plot the position and labels of the rotation joints fixed to the mobile platform
 
     scatter3(Fb(1,:), ...
              Fb(2,:), ...
-             Fb(3,:), 'MarkerEdgeColor', [0.8500 0.3250 0.0980]);
+             Fb(3,:), 'MarkerEdgeColor', args.M_color);
 
     if args.labels
       for i = 1:size(Fb,2)
         text(Fb(1,i) + d_label, ...
              Fb(2,i), ...
-             Fb(3,i), sprintf('$b_{%i}$', i), 'Color', [0.8500 0.3250 0.0980]);
+             Fb(3,i), sprintf('$b_{%i}$', i), 'Color', args.M_color);
       end
     end
   end
@@ -1160,12 +1166,12 @@ Plot the legs connecting the joints of the fixed base to the joints of the mobil
     for i = 1:6
       plot3([stewart.Fa(1,i), Fb(1,i)], ...
             [stewart.Fa(2,i), Fb(2,i)], ...
-            [stewart.Fa(3,i), Fb(3,i)], 'k-');
+            [stewart.Fa(3,i), Fb(3,i)], '-', 'Color', args.L_color);
 
       if args.labels
         text((stewart.Fa(1,i)+Fb(1,i))/2 + d_label, ...
              (stewart.Fa(2,i)+Fb(2,i))/2, ...
-             (stewart.Fa(3,i)+Fb(3,i))/2, sprintf('$%i$', i), 'Color', 'k');
+             (stewart.Fa(3,i)+Fb(3,i))/2, sprintf('$%i$', i), 'Color', args.L_color);
       end
     end
   end