From aad36ca47f93186b31b331707e417b670283b094 Mon Sep 17 00:00:00 2001
From: Thomas Dehaeze <dehaeze.thomas@gmail.com>
Date: Wed, 12 Feb 2020 14:16:32 +0100
Subject: [PATCH] 4 view display option for display function

---
 docs/stewart-architecture.html | 376 +++++++++++++++++++--------------
 org/stewart-architecture.org   |  58 ++++-
 src/displayArchitecture.m      |  52 ++++-
 3 files changed, 322 insertions(+), 164 deletions(-)
diff --git a/docs/stewart-architecture.html b/docs/stewart-architecture.html
index e2eb161..41e1d14 100644
--- a/docs/stewart-architecture.html
+++ b/docs/stewart-architecture.html
@@ -4,7 +4,7 @@
 "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
 <html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
 <head>
-<!-- 2020-02-11 mar. 17:52 -->
+<!-- 2020-02-12 mer. 14:16 -->
 <meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
 <meta name="viewport" content="width=device-width, initial-scale=1" />
 <title>Stewart Platform - Definition of the Architecture</title>
@@ -297,85 +297,85 @@ for the JavaScript code in this tag.
 <ul>
 <li><a href="#orgd89f0e1">5.1. <code>initializeStewartPlatform</code>: Initialize the Stewart Platform structure</a>
 <ul>
-<li><a href="#org9b53b28">Documentation</a></li>
-<li><a href="#org43e5d7b">Function description</a></li>
+<li><a href="#org7e0b516">Documentation</a></li>
+<li><a href="#org51076d4">Function description</a></li>
 <li><a href="#orgd567fc1">Initialize the Stewart structure</a></li>
 </ul>
 </li>
 <li><a href="#orgb11894c">5.2. <code>initializeFramesPositions</code>: Initialize the positions of frames {A}, {B}, {F} and {M}</a>
 <ul>
-<li><a href="#org78163aa">Documentation</a></li>
-<li><a href="#org58e74af">Function description</a></li>
-<li><a href="#org75ad918">Optional Parameters</a></li>
+<li><a href="#org9ab3ee7">Documentation</a></li>
+<li><a href="#org9e0f060">Function description</a></li>
+<li><a href="#org6a57a47">Optional Parameters</a></li>
 <li><a href="#org458592e">Compute the position of each frame</a></li>
-<li><a href="#org29fd7cf">Populate the <code>stewart</code> structure</a></li>
+<li><a href="#org31b0fc0">Populate the <code>stewart</code> structure</a></li>
 </ul>
 </li>
 <li><a href="#org9057387">5.3. <code>generateGeneralConfiguration</code>: Generate a Very General Configuration</a>
 <ul>
-<li><a href="#org304afd4">Documentation</a></li>
-<li><a href="#orgdbbe92d">Function description</a></li>
-<li><a href="#orgc9aa5c6">Optional Parameters</a></li>
+<li><a href="#org0272259">Documentation</a></li>
+<li><a href="#orgbd08cb7">Function description</a></li>
+<li><a href="#orgfade903">Optional Parameters</a></li>
 <li><a href="#org232e4c2">Compute the pose</a></li>
-<li><a href="#org1af60d1">Populate the <code>stewart</code> structure</a></li>
+<li><a href="#org67d9f70">Populate the <code>stewart</code> structure</a></li>
 </ul>
 </li>
 <li><a href="#org861f6de">5.4. <code>computeJointsPose</code>: Compute the Pose of the Joints</a>
 <ul>
-<li><a href="#orgc791fb6">Documentation</a></li>
-<li><a href="#org07a9faa">Function description</a></li>
-<li><a href="#org1873f06">Check the <code>stewart</code> structure elements</a></li>
+<li><a href="#org7f013d7">Documentation</a></li>
+<li><a href="#orgfb0d4ad">Function description</a></li>
+<li><a href="#org7bc221e">Check the <code>stewart</code> structure elements</a></li>
 <li><a href="#org52b0d4c">Compute the position of the Joints</a></li>
 <li><a href="#org4b76b0f">Compute the strut length and orientation</a></li>
 <li><a href="#orgd621d5e">Compute the orientation of the Joints</a></li>
-<li><a href="#orgbe4fa22">Populate the <code>stewart</code> structure</a></li>
+<li><a href="#orgc7895ed">Populate the <code>stewart</code> structure</a></li>
 </ul>
 </li>
 <li><a href="#org329bef9">5.5. <code>initializeStewartPose</code>: Determine the initial stroke in each leg to have the wanted pose</a>
 <ul>
-<li><a href="#orga659915">Function description</a></li>
-<li><a href="#orge99ec9f">Optional Parameters</a></li>
+<li><a href="#org67023b1">Function description</a></li>
+<li><a href="#org1173285">Optional Parameters</a></li>
 <li><a href="#org3d3ef62">Use the Inverse Kinematic function</a></li>
-<li><a href="#org6a8b77e">Populate the <code>stewart</code> structure</a></li>
+<li><a href="#orgd1a2f9c">Populate the <code>stewart</code> structure</a></li>
 </ul>
 </li>
 <li><a href="#org6ff5b31">5.6. <code>initializeCylindricalPlatforms</code>: Initialize the geometry of the Fixed and Mobile Platforms</a>
 <ul>
-<li><a href="#org70b7362">Function description</a></li>
-<li><a href="#orgee6ed82">Optional Parameters</a></li>
+<li><a href="#orge50412f">Function description</a></li>
+<li><a href="#org0be1736">Optional Parameters</a></li>
 <li><a href="#org25a390a">Compute the Inertia matrices of platforms</a></li>
-<li><a href="#org19d03f1">Populate the <code>stewart</code> structure</a></li>
+<li><a href="#org7396a3c">Populate the <code>stewart</code> structure</a></li>
 </ul>
 </li>
 <li><a href="#org60aa215">5.7. <code>initializeCylindricalStruts</code>: Define the inertia of cylindrical struts</a>
 <ul>
-<li><a href="#org686a076">Function description</a></li>
-<li><a href="#orgda13332">Optional Parameters</a></li>
+<li><a href="#org3e05aa9">Function description</a></li>
+<li><a href="#org0447834">Optional Parameters</a></li>
 <li><a href="#orgc056498">Compute the properties of the cylindrical struts</a></li>
-<li><a href="#org601053b">Populate the <code>stewart</code> structure</a></li>
+<li><a href="#org3e2ac57">Populate the <code>stewart</code> structure</a></li>
 </ul>
 </li>
 <li><a href="#org3ad0cd1">5.8. <code>initializeStrutDynamics</code>: Add Stiffness and Damping properties of each strut</a>
 <ul>
-<li><a href="#orgdb94cd8">Documentation</a></li>
-<li><a href="#org38928ae">Function description</a></li>
-<li><a href="#org5d465fb">Optional Parameters</a></li>
+<li><a href="#org53a2929">Documentation</a></li>
+<li><a href="#org1ab40de">Function description</a></li>
+<li><a href="#org21f3e3c">Optional Parameters</a></li>
 <li><a href="#orgadb8327">Add Stiffness and Damping properties of each strut</a></li>
 </ul>
 </li>
 <li><a href="#orgd8d403e">5.9. <code>initializeAmplifiedStrutDynamics</code>: Add Stiffness and Damping properties of each strut for an amplified piezoelectric actuator</a>
 <ul>
-<li><a href="#org7e0b516">Documentation</a></li>
-<li><a href="#orgd36c473">Function description</a></li>
-<li><a href="#org3cae5a2">Optional Parameters</a></li>
+<li><a href="#org2d49efc">Documentation</a></li>
+<li><a href="#orga83094e">Function description</a></li>
+<li><a href="#orgf97e68f">Optional Parameters</a></li>
 <li><a href="#org9b435e8">Compute the total stiffness and damping</a></li>
-<li><a href="#org6cc3cd5">Populate the <code>stewart</code> structure</a></li>
+<li><a href="#org2ca28bc">Populate the <code>stewart</code> structure</a></li>
 </ul>
 </li>
 <li><a href="#orgeb6173a">5.10. <code>initializeJointDynamics</code>: Add Stiffness and Damping properties for spherical joints</a>
 <ul>
-<li><a href="#org8a14eeb">Function description</a></li>
-<li><a href="#orgcfba56a">Optional Parameters</a></li>
+<li><a href="#org92a2eb6">Function description</a></li>
+<li><a href="#org6de493f">Optional Parameters</a></li>
 <li><a href="#orgc6d4183">Add Actuator Type</a></li>
 <li><a href="#orgc0e613c">Add Stiffness and Damping in Translation of each strut</a></li>
 <li><a href="#org04698fc">Add Stiffness and Damping in Rotation of each strut</a></li>
@@ -383,22 +383,23 @@ for the JavaScript code in this tag.
 </li>
 <li><a href="#orgea07e0e">5.11. <code>initializeInertialSensor</code>: Initialize the inertial sensor in each strut</a>
 <ul>
-<li><a href="#orgd686f52">Function description</a></li>
-<li><a href="#org57e140f">Optional Parameters</a></li>
+<li><a href="#org33251d6">Function description</a></li>
+<li><a href="#org405e558">Optional Parameters</a></li>
 <li><a href="#org463075d">Compute the properties of the sensor</a></li>
-<li><a href="#org31b0fc0">Populate the <code>stewart</code> structure</a></li>
+<li><a href="#orgfd7f4a6">Populate the <code>stewart</code> structure</a></li>
 </ul>
 </li>
 <li><a href="#org5266e9d">5.12. <code>displayArchitecture</code>: 3D plot of the Stewart platform architecture</a>
 <ul>
-<li><a href="#org51076d4">Function description</a></li>
-<li><a href="#org6a57a47">Optional Parameters</a></li>
-<li><a href="#org7bc221e">Check the <code>stewart</code> structure elements</a></li>
+<li><a href="#orgbbfef24">Function description</a></li>
+<li><a href="#orgf940506">Optional Parameters</a></li>
+<li><a href="#org12d315f">Check the <code>stewart</code> structure elements</a></li>
 <li><a href="#orgc088b18">Figure Creation, Frames and Homogeneous transformations</a></li>
 <li><a href="#orgc25a979">Fixed Base elements</a></li>
 <li><a href="#org8417772">Mobile Platform elements</a></li>
 <li><a href="#org5f40b79">Legs</a></li>
 <li><a href="#org81be27b">5.12.1. Figure parameters</a></li>
+<li><a href="#orgf41db0f">5.12.2. Subplots</a></li>
 </ul>
 </li>
 </ul>
@@ -768,7 +769,7 @@ The obtained <code>stewart</code> Matlab structure contains all the information
 The function <code>displayArchitecture</code> can be used to display the current Stewart configuration:
 </p>
 <div class="org-src-container">
-<pre class="src src-matlab">displayArchitecture(stewart);
+<pre class="src src-matlab">displayArchitecture(stewart, <span class="org-string">'views'</span>, <span class="org-string">'all'</span>);
 </pre>
 </div>
 
@@ -842,11 +843,11 @@ This Matlab function is accessible <a href="../src/initializeStewartPlatform.m">
 </p>
 </div>
 
-<div id="outline-container-org9b53b28" class="outline-4">
-<h4 id="org9b53b28">Documentation</h4>
-<div class="outline-text-4" id="text-org9b53b28">
+<div id="outline-container-org7e0b516" class="outline-4">
+<h4 id="org7e0b516">Documentation</h4>
+<div class="outline-text-4" id="text-org7e0b516">
 
-<div id="org31aa0ac" class="figure">
+<div id="org405cd8e" class="figure">
 <p><img src="figs/stewart-frames-position.png" alt="stewart-frames-position.png" />
 </p>
 <p><span class="figure-number">Figure 7: </span>Definition of the position of the frames</p>
@@ -854,9 +855,9 @@ This Matlab function is accessible <a href="../src/initializeStewartPlatform.m">
 </div>
 </div>
 
-<div id="outline-container-org43e5d7b" class="outline-4">
-<h4 id="org43e5d7b">Function description</h4>
-<div class="outline-text-4" id="text-org43e5d7b">
+<div id="outline-container-org51076d4" class="outline-4">
+<h4 id="org51076d4">Function description</h4>
+<div class="outline-text-4" id="text-org51076d4">
 <div class="org-src-container">
 <pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeStewartPlatform</span>()
 <span class="org-comment">% initializeStewartPlatform - Initialize the stewart structure</span>
@@ -915,11 +916,11 @@ This Matlab function is accessible <a href="../src/initializeFramesPositions.m">
 </p>
 </div>
 
-<div id="outline-container-org78163aa" class="outline-4">
-<h4 id="org78163aa">Documentation</h4>
-<div class="outline-text-4" id="text-org78163aa">
+<div id="outline-container-org9ab3ee7" class="outline-4">
+<h4 id="org9ab3ee7">Documentation</h4>
+<div class="outline-text-4" id="text-org9ab3ee7">
 
-<div id="org405cd8e" class="figure">
+<div id="orgf487bc2" class="figure">
 <p><img src="figs/stewart-frames-position.png" alt="stewart-frames-position.png" />
 </p>
 <p><span class="figure-number">Figure 8: </span>Definition of the position of the frames</p>
@@ -927,9 +928,9 @@ This Matlab function is accessible <a href="../src/initializeFramesPositions.m">
 </div>
 </div>
 
-<div id="outline-container-org58e74af" class="outline-4">
-<h4 id="org58e74af">Function description</h4>
-<div class="outline-text-4" id="text-org58e74af">
+<div id="outline-container-org9e0f060" class="outline-4">
+<h4 id="org9e0f060">Function description</h4>
+<div class="outline-text-4" id="text-org9e0f060">
 <div class="org-src-container">
 <pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeFramesPositions</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
 <span class="org-comment">% initializeFramesPositions - Initialize the positions of frames {A}, {B}, {F} and {M}</span>
@@ -952,9 +953,9 @@ This Matlab function is accessible <a href="../src/initializeFramesPositions.m">
 </div>
 </div>
 
-<div id="outline-container-org75ad918" class="outline-4">
-<h4 id="org75ad918">Optional Parameters</h4>
-<div class="outline-text-4" id="text-org75ad918">
+<div id="outline-container-org6a57a47" class="outline-4">
+<h4 id="org6a57a47">Optional Parameters</h4>
+<div class="outline-text-4" id="text-org6a57a47">
 <div class="org-src-container">
 <pre class="src src-matlab">arguments
     stewart
@@ -982,9 +983,9 @@ FO_A = MO_B <span class="org-type">+</span> FO_M; <span class="org-comment">% Po
 </div>
 </div>
 
-<div id="outline-container-org29fd7cf" class="outline-4">
-<h4 id="org29fd7cf">Populate the <code>stewart</code> structure</h4>
-<div class="outline-text-4" id="text-org29fd7cf">
+<div id="outline-container-org31b0fc0" class="outline-4">
+<h4 id="org31b0fc0">Populate the <code>stewart</code> structure</h4>
+<div class="outline-text-4" id="text-org31b0fc0">
 <div class="org-src-container">
 <pre class="src src-matlab">stewart.geometry.H      = H;
 stewart.geometry.FO_M   = FO_M;
@@ -1008,9 +1009,9 @@ This Matlab function is accessible <a href="../src/generateGeneralConfiguration.
 </p>
 </div>
 
-<div id="outline-container-org304afd4" class="outline-4">
-<h4 id="org304afd4">Documentation</h4>
-<div class="outline-text-4" id="text-org304afd4">
+<div id="outline-container-org0272259" class="outline-4">
+<h4 id="org0272259">Documentation</h4>
+<div class="outline-text-4" id="text-org0272259">
 <p>
 Joints are positions on a circle centered with the Z axis of {F} and {M} and at a chosen distance from {F} and {M}.
 The radius of the circles can be chosen as well as the angles where the joints are located (see Figure <a href="#org4c354b6">9</a>).
@@ -1025,9 +1026,9 @@ The radius of the circles can be chosen as well as the angles where the joints a
 </div>
 </div>
 
-<div id="outline-container-orgdbbe92d" class="outline-4">
-<h4 id="orgdbbe92d">Function description</h4>
-<div class="outline-text-4" id="text-orgdbbe92d">
+<div id="outline-container-orgbd08cb7" class="outline-4">
+<h4 id="orgbd08cb7">Function description</h4>
+<div class="outline-text-4" id="text-orgbd08cb7">
 <div class="org-src-container">
 <pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">generateGeneralConfiguration</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
 <span class="org-comment">% generateGeneralConfiguration - Generate a Very General Configuration</span>
@@ -1052,9 +1053,9 @@ The radius of the circles can be chosen as well as the angles where the joints a
 </div>
 </div>
 
-<div id="outline-container-orgc9aa5c6" class="outline-4">
-<h4 id="orgc9aa5c6">Optional Parameters</h4>
-<div class="outline-text-4" id="text-orgc9aa5c6">
+<div id="outline-container-orgfade903" class="outline-4">
+<h4 id="orgfade903">Optional Parameters</h4>
+<div class="outline-text-4" id="text-orgfade903">
 <div class="org-src-container">
 <pre class="src src-matlab">arguments
     stewart
@@ -1089,9 +1090,9 @@ Mb = zeros(3,6);
 </div>
 </div>
 
-<div id="outline-container-org1af60d1" class="outline-4">
-<h4 id="org1af60d1">Populate the <code>stewart</code> structure</h4>
-<div class="outline-text-4" id="text-org1af60d1">
+<div id="outline-container-org67d9f70" class="outline-4">
+<h4 id="org67d9f70">Populate the <code>stewart</code> structure</h4>
+<div class="outline-text-4" id="text-org67d9f70">
 <div class="org-src-container">
 <pre class="src src-matlab">stewart.platform_F.Fa = Fa;
 stewart.platform_M.Mb = Mb;
@@ -1113,9 +1114,9 @@ This Matlab function is accessible <a href="../src/computeJointsPose.m">here</a>
 </p>
 </div>
 
-<div id="outline-container-orgc791fb6" class="outline-4">
-<h4 id="orgc791fb6">Documentation</h4>
-<div class="outline-text-4" id="text-orgc791fb6">
+<div id="outline-container-org7f013d7" class="outline-4">
+<h4 id="org7f013d7">Documentation</h4>
+<div class="outline-text-4" id="text-org7f013d7">
 
 <div id="org8ffb841" class="figure">
 <p><img src="figs/stewart-struts.png" alt="stewart-struts.png" />
@@ -1125,9 +1126,9 @@ This Matlab function is accessible <a href="../src/computeJointsPose.m">here</a>
 </div>
 </div>
 
-<div id="outline-container-org07a9faa" class="outline-4">
-<h4 id="org07a9faa">Function description</h4>
-<div class="outline-text-4" id="text-org07a9faa">
+<div id="outline-container-orgfb0d4ad" class="outline-4">
+<h4 id="orgfb0d4ad">Function description</h4>
+<div class="outline-text-4" id="text-orgfb0d4ad">
 <div class="org-src-container">
 <pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">computeJointsPose</span>(<span class="org-variable-name">stewart</span>)
 <span class="org-comment">% computeJointsPose -</span>
@@ -1160,9 +1161,9 @@ This Matlab function is accessible <a href="../src/computeJointsPose.m">here</a>
 </div>
 </div>
 
-<div id="outline-container-org1873f06" class="outline-4">
-<h4 id="org1873f06">Check the <code>stewart</code> structure elements</h4>
-<div class="outline-text-4" id="text-org1873f06">
+<div id="outline-container-org7bc221e" class="outline-4">
+<h4 id="org7bc221e">Check the <code>stewart</code> structure elements</h4>
+<div class="outline-text-4" id="text-org7bc221e">
 <div class="org-src-container">
 <pre class="src src-matlab">assert(isfield(stewart.platform_F, <span class="org-string">'Fa'</span>),   <span class="org-string">'stewart.platform_F should have attribute Fa'</span>)
 Fa = stewart.platform_F.Fa;
@@ -1233,9 +1234,9 @@ MRb = zeros(3,3,6);
 </div>
 </div>
 
-<div id="outline-container-orgbe4fa22" class="outline-4">
-<h4 id="orgbe4fa22">Populate the <code>stewart</code> structure</h4>
-<div class="outline-text-4" id="text-orgbe4fa22">
+<div id="outline-container-orgc7895ed" class="outline-4">
+<h4 id="orgc7895ed">Populate the <code>stewart</code> structure</h4>
+<div class="outline-text-4" id="text-orgc7895ed">
 <div class="org-src-container">
 <pre class="src src-matlab">stewart.geometry.Aa = Aa;
 stewart.geometry.Ab = Ab;
@@ -1268,9 +1269,9 @@ This Matlab function is accessible <a href="../src/initializeStewartPose.m">here
 </p>
 </div>
 
-<div id="outline-container-orga659915" class="outline-4">
-<h4 id="orga659915">Function description</h4>
-<div class="outline-text-4" id="text-orga659915">
+<div id="outline-container-org67023b1" class="outline-4">
+<h4 id="org67023b1">Function description</h4>
+<div class="outline-text-4" id="text-org67023b1">
 <div class="org-src-container">
 <pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeStewartPose</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
 <span class="org-comment">% initializeStewartPose - Determine the initial stroke in each leg to have the wanted pose</span>
@@ -1294,9 +1295,9 @@ This Matlab function is accessible <a href="../src/initializeStewartPose.m">here
 </div>
 </div>
 
-<div id="outline-container-orge99ec9f" class="outline-4">
-<h4 id="orge99ec9f">Optional Parameters</h4>
-<div class="outline-text-4" id="text-orge99ec9f">
+<div id="outline-container-org1173285" class="outline-4">
+<h4 id="org1173285">Optional Parameters</h4>
+<div class="outline-text-4" id="text-org1173285">
 <div class="org-src-container">
 <pre class="src src-matlab">arguments
     stewart
@@ -1318,9 +1319,9 @@ This Matlab function is accessible <a href="../src/initializeStewartPose.m">here
 </div>
 </div>
 
-<div id="outline-container-org6a8b77e" class="outline-4">
-<h4 id="org6a8b77e">Populate the <code>stewart</code> structure</h4>
-<div class="outline-text-4" id="text-org6a8b77e">
+<div id="outline-container-orgd1a2f9c" class="outline-4">
+<h4 id="orgd1a2f9c">Populate the <code>stewart</code> structure</h4>
+<div class="outline-text-4" id="text-orgd1a2f9c">
 <div class="org-src-container">
 <pre class="src src-matlab">stewart.actuators.Leq = dLi;
 </pre>
@@ -1341,9 +1342,9 @@ This Matlab function is accessible <a href="../src/initializeCylindricalPlatform
 </p>
 </div>
 
-<div id="outline-container-org70b7362" class="outline-4">
-<h4 id="org70b7362">Function description</h4>
-<div class="outline-text-4" id="text-org70b7362">
+<div id="outline-container-orge50412f" class="outline-4">
+<h4 id="orge50412f">Function description</h4>
+<div class="outline-text-4" id="text-orge50412f">
 <div class="org-src-container">
 <pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeCylindricalPlatforms</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
 <span class="org-comment">% initializeCylindricalPlatforms - Initialize the geometry of the Fixed and Mobile Platforms</span>
@@ -1377,9 +1378,9 @@ This Matlab function is accessible <a href="../src/initializeCylindricalPlatform
 </div>
 </div>
 
-<div id="outline-container-orgee6ed82" class="outline-4">
-<h4 id="orgee6ed82">Optional Parameters</h4>
-<div class="outline-text-4" id="text-orgee6ed82">
+<div id="outline-container-org0be1736" class="outline-4">
+<h4 id="org0be1736">Optional Parameters</h4>
+<div class="outline-text-4" id="text-org0be1736">
 <div class="org-src-container">
 <pre class="src src-matlab">arguments
     stewart
@@ -1414,9 +1415,9 @@ This Matlab function is accessible <a href="../src/initializeCylindricalPlatform
 </div>
 </div>
 
-<div id="outline-container-org19d03f1" class="outline-4">
-<h4 id="org19d03f1">Populate the <code>stewart</code> structure</h4>
-<div class="outline-text-4" id="text-org19d03f1">
+<div id="outline-container-org7396a3c" class="outline-4">
+<h4 id="org7396a3c">Populate the <code>stewart</code> structure</h4>
+<div class="outline-text-4" id="text-org7396a3c">
 <div class="org-src-container">
 <pre class="src src-matlab">stewart.platform_F.type = 1;
 
@@ -1452,9 +1453,9 @@ This Matlab function is accessible <a href="../src/initializeCylindricalStruts.m
 </p>
 </div>
 
-<div id="outline-container-org686a076" class="outline-4">
-<h4 id="org686a076">Function description</h4>
-<div class="outline-text-4" id="text-org686a076">
+<div id="outline-container-org3e05aa9" class="outline-4">
+<h4 id="org3e05aa9">Function description</h4>
+<div class="outline-text-4" id="text-org3e05aa9">
 <div class="org-src-container">
 <pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeCylindricalStruts</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
 <span class="org-comment">% initializeCylindricalStruts - Define the mass and moment of inertia of cylindrical struts</span>
@@ -1487,9 +1488,9 @@ This Matlab function is accessible <a href="../src/initializeCylindricalStruts.m
 </div>
 </div>
 
-<div id="outline-container-orgda13332" class="outline-4">
-<h4 id="orgda13332">Optional Parameters</h4>
-<div class="outline-text-4" id="text-orgda13332">
+<div id="outline-container-org0447834" class="outline-4">
+<h4 id="org0447834">Optional Parameters</h4>
+<div class="outline-text-4" id="text-org0447834">
 <div class="org-src-container">
 <pre class="src src-matlab">arguments
     stewart
@@ -1537,9 +1538,9 @@ I_M = zeros(3, 3, 6); <span class="org-comment">% Inertia of the "mobile" part o
 </div>
 </div>
 
-<div id="outline-container-org601053b" class="outline-4">
-<h4 id="org601053b">Populate the <code>stewart</code> structure</h4>
-<div class="outline-text-4" id="text-org601053b">
+<div id="outline-container-org3e2ac57" class="outline-4">
+<h4 id="org3e2ac57">Populate the <code>stewart</code> structure</h4>
+<div class="outline-text-4" id="text-org3e2ac57">
 <div class="org-src-container">
 <pre class="src src-matlab">stewart.struts_M.type = 1;
 
@@ -1575,9 +1576,9 @@ This Matlab function is accessible <a href="../src/initializeStrutDynamics.m">he
 </p>
 </div>
 
-<div id="outline-container-orgdb94cd8" class="outline-4">
-<h4 id="orgdb94cd8">Documentation</h4>
-<div class="outline-text-4" id="text-orgdb94cd8">
+<div id="outline-container-org53a2929" class="outline-4">
+<h4 id="org53a2929">Documentation</h4>
+<div class="outline-text-4" id="text-org53a2929">
 
 <div id="orgbbfb204" class="figure">
 <p><img src="figs/piezoelectric_stack.jpg" alt="piezoelectric_stack.jpg" width="500px" />
@@ -1606,9 +1607,9 @@ A simplistic model of such amplified actuator is shown in Figure <a href="#org62
 </div>
 </div>
 
-<div id="outline-container-org38928ae" class="outline-4">
-<h4 id="org38928ae">Function description</h4>
-<div class="outline-text-4" id="text-org38928ae">
+<div id="outline-container-org1ab40de" class="outline-4">
+<h4 id="org1ab40de">Function description</h4>
+<div class="outline-text-4" id="text-org1ab40de">
 <div class="org-src-container">
 <pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeStrutDynamics</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
 <span class="org-comment">% initializeStrutDynamics - Add Stiffness and Damping properties of each strut</span>
@@ -1630,9 +1631,9 @@ A simplistic model of such amplified actuator is shown in Figure <a href="#org62
 </div>
 </div>
 
-<div id="outline-container-org5d465fb" class="outline-4">
-<h4 id="org5d465fb">Optional Parameters</h4>
-<div class="outline-text-4" id="text-org5d465fb">
+<div id="outline-container-org21f3e3c" class="outline-4">
+<h4 id="org21f3e3c">Optional Parameters</h4>
+<div class="outline-text-4" id="text-org21f3e3c">
 <div class="org-src-container">
 <pre class="src src-matlab">arguments
     stewart
@@ -1670,9 +1671,9 @@ This Matlab function is accessible <a href="../src/initializeAmplifiedStrutDynam
 </p>
 </div>
 
-<div id="outline-container-org7e0b516" class="outline-4">
-<h4 id="org7e0b516">Documentation</h4>
-<div class="outline-text-4" id="text-org7e0b516">
+<div id="outline-container-org2d49efc" class="outline-4">
+<h4 id="org2d49efc">Documentation</h4>
+<div class="outline-text-4" id="text-org2d49efc">
 <p>
 An amplified piezoelectric actuator is shown in Figure <a href="#org9e7e9ad">13</a>.
 </p>
@@ -1705,9 +1706,9 @@ A simplistic model of such amplified actuator is shown in Figure <a href="#orgcf
 </div>
 </div>
 
-<div id="outline-container-orgd36c473" class="outline-4">
-<h4 id="orgd36c473">Function description</h4>
-<div class="outline-text-4" id="text-orgd36c473">
+<div id="outline-container-orga83094e" class="outline-4">
+<h4 id="orga83094e">Function description</h4>
+<div class="outline-text-4" id="text-orga83094e">
 <div class="org-src-container">
 <pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeAmplifiedStrutDynamics</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
 <span class="org-comment">% initializeAmplifiedStrutDynamics - Add Stiffness and Damping properties of each strut</span>
@@ -1735,9 +1736,9 @@ A simplistic model of such amplified actuator is shown in Figure <a href="#orgcf
 </div>
 </div>
 
-<div id="outline-container-org3cae5a2" class="outline-4">
-<h4 id="org3cae5a2">Optional Parameters</h4>
-<div class="outline-text-4" id="text-org3cae5a2">
+<div id="outline-container-orgf97e68f" class="outline-4">
+<h4 id="orgf97e68f">Optional Parameters</h4>
+<div class="outline-text-4" id="text-orgf97e68f">
 <div class="org-src-container">
 <pre class="src src-matlab">arguments
     stewart
@@ -1762,9 +1763,9 @@ C = args.Ca <span class="org-type">+</span> args.Cr;
 </div>
 </div>
 
-<div id="outline-container-org6cc3cd5" class="outline-4">
-<h4 id="org6cc3cd5">Populate the <code>stewart</code> structure</h4>
-<div class="outline-text-4" id="text-org6cc3cd5">
+<div id="outline-container-org2ca28bc" class="outline-4">
+<h4 id="org2ca28bc">Populate the <code>stewart</code> structure</h4>
+<div class="outline-text-4" id="text-org2ca28bc">
 <div class="org-src-container">
 <pre class="src src-matlab">stewart.actuators.type = 2;
 
@@ -1794,9 +1795,9 @@ This Matlab function is accessible <a href="../src/initializeJointDynamics.m">he
 </p>
 </div>
 
-<div id="outline-container-org8a14eeb" class="outline-4">
-<h4 id="org8a14eeb">Function description</h4>
-<div class="outline-text-4" id="text-org8a14eeb">
+<div id="outline-container-org92a2eb6" class="outline-4">
+<h4 id="org92a2eb6">Function description</h4>
+<div class="outline-text-4" id="text-org92a2eb6">
 <div class="org-src-container">
 <pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeJointDynamics</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
 <span class="org-comment">% initializeJointDynamics - Add Stiffness and Damping properties for the spherical joints</span>
@@ -1831,9 +1832,9 @@ This Matlab function is accessible <a href="../src/initializeJointDynamics.m">he
 </div>
 </div>
 
-<div id="outline-container-orgcfba56a" class="outline-4">
-<h4 id="orgcfba56a">Optional Parameters</h4>
-<div class="outline-text-4" id="text-orgcfba56a">
+<div id="outline-container-org6de493f" class="outline-4">
+<h4 id="org6de493f">Optional Parameters</h4>
+<div class="outline-text-4" id="text-org6de493f">
 <div class="org-src-container">
 <pre class="src src-matlab">arguments
     stewart
@@ -1959,9 +1960,9 @@ This Matlab function is accessible <a href="../src/initializeInertialSensor.m">h
 </p>
 </div>
 
-<div id="outline-container-orgd686f52" class="outline-4">
-<h4 id="orgd686f52">Function description</h4>
-<div class="outline-text-4" id="text-orgd686f52">
+<div id="outline-container-org33251d6" class="outline-4">
+<h4 id="org33251d6">Function description</h4>
+<div class="outline-text-4" id="text-org33251d6">
 <div class="org-src-container">
 <pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeInertialSensor</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
 <span class="org-comment">% initializeInertialSensor - Initialize the inertial sensor in each strut</span>
@@ -1987,9 +1988,9 @@ This Matlab function is accessible <a href="../src/initializeInertialSensor.m">h
 </div>
 </div>
 
-<div id="outline-container-org57e140f" class="outline-4">
-<h4 id="org57e140f">Optional Parameters</h4>
-<div class="outline-text-4" id="text-org57e140f">
+<div id="outline-container-org405e558" class="outline-4">
+<h4 id="org405e558">Optional Parameters</h4>
+<div class="outline-text-4" id="text-org405e558">
 <div class="org-src-container">
 <pre class="src src-matlab">arguments
     stewart
@@ -2030,9 +2031,9 @@ This Matlab function is accessible <a href="../src/initializeInertialSensor.m">h
 </div>
 </div>
 
-<div id="outline-container-org31b0fc0" class="outline-4">
-<h4 id="org31b0fc0">Populate the <code>stewart</code> structure</h4>
-<div class="outline-text-4" id="text-org31b0fc0">
+<div id="outline-container-orgfd7f4a6" class="outline-4">
+<h4 id="orgfd7f4a6">Populate the <code>stewart</code> structure</h4>
+<div class="outline-text-4" id="text-orgfd7f4a6">
 <div class="org-src-container">
 <pre class="src src-matlab">stewart.sensors.inertial = sensor;
 </pre>
@@ -2053,9 +2054,9 @@ This Matlab function is accessible <a href="../src/displayArchitecture.m">here</
 </p>
 </div>
 
-<div id="outline-container-org51076d4" class="outline-4">
-<h4 id="org51076d4">Function description</h4>
-<div class="outline-text-4" id="text-org51076d4">
+<div id="outline-container-orgbbfef24" class="outline-4">
+<h4 id="orgbbfef24">Function description</h4>
+<div class="outline-text-4" id="text-orgbbfef24">
 <div class="org-src-container">
 <pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[]</span> = <span class="org-function-name">displayArchitecture</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
 <span class="org-comment">% displayArchitecture - 3D plot of the Stewart platform architecture</span>
@@ -2076,6 +2077,7 @@ This Matlab function is accessible <a href="../src/displayArchitecture.m">here</
 <span class="org-comment">%        - joints    [true/false] - Display the Joints</span>
 <span class="org-comment">%        - labels    [true/false] - Display the Labels</span>
 <span class="org-comment">%        - platforms [true/false] - Display the Platforms</span>
+<span class="org-comment">%        - views     ['all', 'xy', 'yz', 'xz', 'default'] -</span>
 <span class="org-comment">%</span>
 <span class="org-comment">% Outputs:</span>
 </pre>
@@ -2083,9 +2085,9 @@ This Matlab function is accessible <a href="../src/displayArchitecture.m">here</
 </div>
 </div>
 
-<div id="outline-container-org6a57a47" class="outline-4">
-<h4 id="org6a57a47">Optional Parameters</h4>
-<div class="outline-text-4" id="text-org6a57a47">
+<div id="outline-container-orgf940506" class="outline-4">
+<h4 id="orgf940506">Optional Parameters</h4>
+<div class="outline-text-4" id="text-orgf940506">
 <div class="org-src-container">
 <pre class="src src-matlab">arguments
     stewart
@@ -2099,15 +2101,16 @@ This Matlab function is accessible <a href="../src/displayArchitecture.m">here</
     args.joints    logical {mustBeNumericOrLogical} = <span class="org-constant">true</span>
     args.labels    logical {mustBeNumericOrLogical} = <span class="org-constant">true</span>
     args.platforms logical {mustBeNumericOrLogical} = <span class="org-constant">true</span>
+    args.views     char    {mustBeMember(args.views,{<span class="org-string">'all'</span>, <span class="org-string">'xy'</span>, <span class="org-string">'xz'</span>, <span class="org-string">'yz'</span>, <span class="org-string">'default'</span>})} = <span class="org-string">'default'</span>
 <span class="org-keyword">end</span>
 </pre>
 </div>
 </div>
 </div>
 
-<div id="outline-container-org7bc221e" class="outline-4">
-<h4 id="org7bc221e">Check the <code>stewart</code> structure elements</h4>
-<div class="outline-text-4" id="text-org7bc221e">
+<div id="outline-container-org12d315f" class="outline-4">
+<h4 id="org12d315f">Check the <code>stewart</code> structure elements</h4>
+<div class="outline-text-4" id="text-org12d315f">
 <div class="org-src-container">
 <pre class="src src-matlab">assert(isfield(stewart.platform_F, <span class="org-string">'FO_A'</span>), <span class="org-string">'stewart.platform_F should have attribute FO_A'</span>)
 FO_A = stewart.platform_F.FO_A;
@@ -2136,7 +2139,12 @@ Mb = stewart.platform_M.Mb;
 The reference frame of the 3d plot corresponds to the frame \(\{F\}\).
 </p>
 <div class="org-src-container">
-<pre class="src src-matlab"><span class="org-type">figure</span>;
+<pre class="src src-matlab"><span class="org-keyword">if</span> <span class="org-type">~</span>strcmp(args.views, <span class="org-string">'all'</span>)
+  <span class="org-type">figure</span>;
+<span class="org-keyword">else</span>
+  f = <span class="org-type">figure</span>(<span class="org-string">'visible'</span>, <span class="org-string">'off'</span>);
+<span class="org-keyword">end</span>
+
 hold on;
 </pre>
 </div>
@@ -2367,15 +2375,65 @@ Plot the legs connecting the joints of the fixed base to the joints of the mobil
 <h4 id="org81be27b"><span class="section-number-4">5.12.1</span> Figure parameters</h4>
 <div class="outline-text-4" id="text-5-12-1">
 <div class="org-src-container">
-<pre class="src src-matlab">view([1 <span class="org-type">-</span>0.6 0.4]);
+<pre class="src src-matlab"><span class="org-keyword">switch</span> <span class="org-constant">args.views</span>
+  <span class="org-keyword">case</span> <span class="org-string">'default'</span>
+      view([1 <span class="org-type">-</span>0.6 0.4]);
+  <span class="org-keyword">case</span> <span class="org-string">'xy'</span>
+      view([0 0 1]);
+  <span class="org-keyword">case</span> <span class="org-string">'xz'</span>
+      view([0 <span class="org-type">-</span>1 0]);
+  <span class="org-keyword">case</span> <span class="org-string">'yz'</span>
+      view([1 0 0]);
+<span class="org-keyword">end</span>
 <span class="org-type">axis</span> equal;
 <span class="org-type">axis</span> off;
 </pre>
 </div>
 </div>
 </div>
+
+<div id="outline-container-orgf41db0f" class="outline-4">
+<h4 id="orgf41db0f"><span class="section-number-4">5.12.2</span> Subplots</h4>
+<div class="outline-text-4" id="text-5-12-2">
+<div class="org-src-container">
+<pre class="src src-matlab"><span class="org-keyword">if</span> strcmp(args.views, <span class="org-string">'all'</span>)
+  hAx = findobj(<span class="org-string">'type'</span>, <span class="org-string">'axes'</span>);
+
+  <span class="org-type">figure</span>;
+  s1 = subplot(2,2,1);
+  copyobj(<span class="org-type">get</span>(hAx(<span class="org-variable-name">1</span>), <span class="org-string">'Children'</span>), s1);
+  view([0 0 1]);
+  <span class="org-type">axis</span> equal;
+  <span class="org-type">axis</span> off;
+  title(<span class="org-string">'Top'</span>)
+
+  s2 = subplot(2,2,2);
+  copyobj(<span class="org-type">get</span>(hAx(<span class="org-variable-name">1</span>), <span class="org-string">'Children'</span>), s2);
+  view([1 <span class="org-type">-</span>0.6 0.4]);
+  <span class="org-type">axis</span> equal;
+  <span class="org-type">axis</span> off;
+
+  s3 = subplot(2,2,3);
+  copyobj(<span class="org-type">get</span>(hAx(<span class="org-variable-name">1</span>), <span class="org-string">'Children'</span>), s3);
+  view([1 0 0]);
+  <span class="org-type">axis</span> equal;
+  <span class="org-type">axis</span> off;
+  title(<span class="org-string">'Front'</span>)
+
+  s4 = subplot(2,2,4);
+  copyobj(<span class="org-type">get</span>(hAx(<span class="org-variable-name">1</span>), <span class="org-string">'Children'</span>), s4);
+  view([0 <span class="org-type">-</span>1 0]);
+  <span class="org-type">axis</span> equal;
+  <span class="org-type">axis</span> off;
+  title(<span class="org-string">'Side'</span>)
+<span class="org-keyword">end</span>
+</pre>
 </div>
 </div>
+</div>
+</div>
+</div>
+
 
 <p>
 
@@ -2386,7 +2444,7 @@ Plot the legs connecting the joints of the fixed base to the joints of the mobil
 </div>
 <div id="postamble" class="status">
 <p class="author">Author: Dehaeze Thomas</p>
-<p class="date">Created: 2020-02-11 mar. 17:52</p>
+<p class="date">Created: 2020-02-12 mer. 14:16</p>
 </div>
 </body>
 </html>
diff --git a/org/stewart-architecture.org b/org/stewart-architecture.org
index 1b8ad59..ed0d538 100644
--- a/org/stewart-architecture.org
+++ b/org/stewart-architecture.org
@@ -241,7 +241,7 @@ The obtained =stewart= Matlab structure contains all the information for analysi
 
 The function =displayArchitecture= can be used to display the current Stewart configuration:
 #+begin_src matlab
-  displayArchitecture(stewart);
+  displayArchitecture(stewart, 'views', 'all');
 #+end_src
 
 #+header: :tangle no :exports results :results none :noweb yes
@@ -1450,6 +1450,7 @@ This Matlab function is accessible [[file:../src/displayArchitecture.m][here]].
   %        - joints    [true/false] - Display the Joints
   %        - labels    [true/false] - Display the Labels
   %        - platforms [true/false] - Display the Platforms
+  %        - views     ['all', 'xy', 'yz', 'xz', 'default'] -
   %
   % Outputs:
 #+end_src
@@ -1471,6 +1472,7 @@ This Matlab function is accessible [[file:../src/displayArchitecture.m][here]].
       args.joints    logical {mustBeNumericOrLogical} = true
       args.labels    logical {mustBeNumericOrLogical} = true
       args.platforms logical {mustBeNumericOrLogical} = true
+      args.views     char    {mustBeMember(args.views,{'all', 'xy', 'xz', 'yz', 'default'})} = 'default'
   end
 #+end_src
 
@@ -1503,7 +1505,12 @@ This Matlab function is accessible [[file:../src/displayArchitecture.m][here]].
 
 The reference frame of the 3d plot corresponds to the frame $\{F\}$.
 #+begin_src matlab
-  figure;
+  if ~strcmp(args.views, 'all')
+    figure;
+  else
+    f = figure('visible', 'off');
+  end
+
   hold on;
 #+end_src
 
@@ -1691,11 +1698,56 @@ Plot the legs connecting the joints of the fixed base to the joints of the mobil
 
 *** Figure parameters
 #+begin_src matlab
-  view([1 -0.6 0.4]);
+  switch args.views
+    case 'default'
+        view([1 -0.6 0.4]);
+    case 'xy'
+        view([0 0 1]);
+    case 'xz'
+        view([0 -1 0]);
+    case 'yz'
+        view([1 0 0]);
+  end
   axis equal;
   axis off;
 #+end_src
 
+*** Subplots
+#+begin_src matlab
+  if strcmp(args.views, 'all')
+    hAx = findobj('type', 'axes');
+
+    figure;
+    s1 = subplot(2,2,1);
+    copyobj(get(hAx(1), 'Children'), s1);
+    view([0 0 1]);
+    axis equal;
+    axis off;
+    title('Top')
+
+    s2 = subplot(2,2,2);
+    copyobj(get(hAx(1), 'Children'), s2);
+    view([1 -0.6 0.4]);
+    axis equal;
+    axis off;
+
+    s3 = subplot(2,2,3);
+    copyobj(get(hAx(1), 'Children'), s3);
+    view([1 0 0]);
+    axis equal;
+    axis off;
+    title('Front')
+
+    s4 = subplot(2,2,4);
+    copyobj(get(hAx(1), 'Children'), s4);
+    view([0 -1 0]);
+    axis equal;
+    axis off;
+    title('Side')
+  end
+#+end_src
+
+
 * Bibliography                                                        :ignore:
 bibliographystyle:unsrt
 bibliography:ref.bib
diff --git a/src/displayArchitecture.m b/src/displayArchitecture.m
index 39de82d..2e0a6bc 100644
--- a/src/displayArchitecture.m
+++ b/src/displayArchitecture.m
@@ -17,6 +17,7 @@ function [] = displayArchitecture(stewart, args)
 %        - joints    [true/false] - Display the Joints
 %        - labels    [true/false] - Display the Labels
 %        - platforms [true/false] - Display the Platforms
+%        - views     ['all', 'xy', 'yz', 'xz', 'default'] -
 %
 % Outputs:
 
@@ -32,6 +33,7 @@ arguments
     args.joints    logical {mustBeNumericOrLogical} = true
     args.labels    logical {mustBeNumericOrLogical} = true
     args.platforms logical {mustBeNumericOrLogical} = true
+    args.views     char    {mustBeMember(args.views,{'all', 'xy', 'xz', 'yz', 'default'})} = 'default'
 end
 
 assert(isfield(stewart.platform_F, 'FO_A'), 'stewart.platform_F should have attribute FO_A')
@@ -49,7 +51,12 @@ Fa = stewart.platform_F.Fa;
 assert(isfield(stewart.platform_M, 'Mb'),   'stewart.platform_M should have attribute Mb')
 Mb = stewart.platform_M.Mb;
 
-figure;
+if ~strcmp(args.views, 'all')
+  figure;
+else
+  f = figure('visible', 'off');
+end
+
 hold on;
 
 FTa = [eye(3), FO_A; ...
@@ -185,6 +192,47 @@ if args.legs
   end
 end
 
-view([1 -0.6 0.4]);
+switch args.views
+  case 'default'
+      view([1 -0.6 0.4]);
+  case 'xy'
+      view([0 0 1]);
+  case 'xz'
+      view([0 -1 0]);
+  case 'yz'
+      view([1 0 0]);
+end
 axis equal;
 axis off;
+
+if strcmp(args.views, 'all')
+  hAx = findobj('type', 'axes');
+
+  figure;
+  s1 = subplot(2,2,1);
+  copyobj(get(hAx(1), 'Children'), s1);
+  view([0 0 1]);
+  axis equal;
+  axis off;
+  title('Top')
+
+  s2 = subplot(2,2,2);
+  copyobj(get(hAx(1), 'Children'), s2);
+  view([1 -0.6 0.4]);
+  axis equal;
+  axis off;
+
+  s3 = subplot(2,2,3);
+  copyobj(get(hAx(1), 'Children'), s3);
+  view([1 0 0]);
+  axis equal;
+  axis off;
+  title('Front')
+
+  s4 = subplot(2,2,4);
+  copyobj(get(hAx(1), 'Children'), s4);
+  view([0 -1 0]);
+  axis equal;
+  axis off;
+  title('Side')
+end
