navlie.utils.plot.plot_poses

navlie.utils.plot.plot_poses(poses, ax: Axes | None = None, line_color: str | None = None, triad_color: str | None = None, arrow_length: float = 1, step: int = 5, label: str | None = None, linewidth=None, plot_2d: bool = False)

Plots a pose trajectory, representing the attitudes by triads plotted along the trajectory.

The poses may be either elements of SE(2), representing planar 2D poses, or elements of SE(3), representing 3D poses.

Parameters:

• poses (List[Union[SE2State, SE3State]]) – A list objects containing a position property and an attitude property, representing the rotation matrix :math:\mathbf{C}_{ab}. Can either be 2D or 3D poses.

• ax (plt.Axes, optional) – Axes to plot on, if none, 3D axes are created.

• line_color (str, optional) – Color of the position trajectory.

• triad_color (str, optional) – Triad color. If none are specified, defaults to RGB.

• arrow_length (int, optional) – Triad arrow length, by default 1.

• step (int or None, optional) – Step size in list of poses, by default 5. If None, no triads are plotted.

• label (str, optional) – Optional label for the triad

• plot_2d (bool, optional) – Flag to plot a 3D pose trajectory in 2D bird’s eye view.

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