show

Display VectorFieldHistogram information in figure window

Syntax

show(vfh)

show(vfh,'Parent',parent)

h = show(___)

Description

show(vfh) shows histograms calculated by the VFH+ algorithm in a figure window. The figure also includes the parameters of the controllerVFH object and range values from the last object call.

show(vfh,'Parent',parent) sets the specified axes handle, parent, to the axes.

h = show(___) returns the figure object handle created by show using any of the arguments from the previous syntaxes.

Examples

Create a Vector Field Histogram Object and Visualize Data

This example shows how to calculate a steering direction based on input laser scan data.

Create a controllerVFH object. Set the UseLidarScan property to true.

vfh = controllerVFH;
vfh.UseLidarScan = true;

Input laser scan data and target direction.

ranges = 10*ones(1,500);
ranges(1,225:275) = 1.0;
angles = linspace(-pi,pi,500);
targetDir = 0;

Create a lidarScan object by specifying the ranges and angles.

scan = lidarScan(ranges,angles);

Compute an obstacle-free steering direction.

steeringDir = vfh(scan,targetDir);

Visualize the VectorFieldHistogram computation.

h = figure;
set(h,'Position',[50 50 800 400])
show(vfh)

Input Arguments

vfh — Vector field histogram algorithm

controllerVFH object

Vector field histogram algorithm, specified as a controllerVFH object. This object contains all the parameters for tuning the VFH+ algorithm.

parent — Polar axes properties

PolarAxes handle

Axes properties, specified as a PolarAxes handle. See PolarAxes Properties for more information about PolarAxes.

Output Arguments

h — Polar axes handles for VFH algorithm display

array of PolarAxes handles

Axes handles for VFH algorithm display, specified as an array of PolarAxes handles. The VFH histogram and HistogramThresholds are shown in the first axes. The binary histogram, range sensor readings, target direction, and steering directions are shown in the second axes. See PolarAxes Properties for more information about PolarAxes.

Version History

Introduced in R2019b

R2024b: show object function now plots on PolarAxes instead of Axes

show object function now plots on PolarAxes instead of Axes. The value types of the parent and h arguments reflect this change. See PolarAxes Properties for more information about PolarAxes.