EE 570: Programming Laboratory 1

3D Frame Viewer

Write a program to compose a series of rotations and/or translations describe by homogeneous transformations, and display the resulting frames in 3D. In particular,

• Become familiar with cell arrays, structures, numeric arrays and hgtransform in Matlab. Select a method of your choice that can be used to compose translations and rotations via operations with the homogeneous transformation matrix.
• Become familiar with 3D graphics in Matlab to include line, cylinder, sphere, ellipsoid, text, axis, patch, handles, ...
• Build 3D visualizations for problems 2-14, 2-37 and 2-39 that show the base frame and then steps through each operation in order ({0}, {1}, ... {n}). Break each operation into small steps, so that a "smooth" animation of the process can be viewed. You may want to leave each numbered frame in the sequence as you go and label the axes with text.
• Turn in your m-files, 3D plots that represent results for all problems, and any discussion you need to clarify your work.