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<section id="d-graphics">
<h1>2D graphics<a class="headerlink" href="#d-graphics" title="Permalink to this headline"></a></h1>
<p>2d graphical primitives which build on Matplotlib.</p>
<span class="target" id="module-spatialmath.base.graphics"></span><dl class="py function">
<dt class="sig sig-object py" id="spatialmath.base.graphics.plot_box">
<span class="sig-name descname"><span class="pre">plot_box</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">fmt</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">lbrt</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">lrbt</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">lbwh</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">bbox</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ltrb</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">lb</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">lt</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">rb</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">rt</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">wh</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">centre</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">w</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">h</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ax</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">filled</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/base/graphics.html#plot_box"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.base.graphics.plot_box" title="Permalink to this definition"></a></dt>
<dd><p>Plot a 2D box using matplotlib</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>bl</strong> (<em>array_like</em><em>(</em><em>2</em><em>)</em><em>, </em><em>optional</em>) – bottom-left corner, defaults to None</p></li>
<li><p><strong>tl</strong> (<em>[</em><em>array_like</em><em>(</em><em>2</em><em>)</em><em>, </em><em>optional</em>) – top-left corner, defaults to None</p></li>
<li><p><strong>br</strong> (<em>array_like</em><em>(</em><em>2</em><em>)</em><em>, </em><em>optional</em>) – bottom-right corner, defaults to None</p></li>
<li><p><strong>tr</strong> (<em>array_like</em><em>(</em><em>2</em><em>)</em><em>, </em><em>optional</em>) – top-right corner, defaults to None</p></li>
<li><p><strong>wh</strong> (<em>scalar</em><em>, </em><em>array_like</em><em>(</em><em>2</em><em>)</em><em>, </em><em>optional</em>) – width and height, if both are the same provide scalar, defaults to None</p></li>
<li><p><strong>centre</strong> (<em>array_like</em><em>(</em><em>2</em><em>)</em><em>, </em><em>optional</em>) – centre of box, defaults to None</p></li>
<li><p><strong>w</strong> (<em>float</em><em>, </em><em>optional</em>) – width of box, defaults to None</p></li>
<li><p><strong>h</strong> (<em>float</em><em>, </em><em>optional</em>) – height of box, defaults to None</p></li>
<li><p><strong>ax</strong> (<em>Axis</em><em>, </em><em>optional</em>) – the axes to draw on, defaults to <code class="docutils literal notranslate"><span class="pre">gca()</span></code></p></li>
<li><p><strong>bbox</strong> (<em>ndarray</em><em>(</em><em>2</em><em>,</em><em>2</em><em>)</em><em>, </em><em>optional</em>) – bounding box matrix, defaults to None</p></li>
<li><p><strong>color</strong> (<em>array_like</em><em>(</em><em>3</em><em>) or </em><em>str</em>) – box outline color</p></li>
<li><p><strong>fillcolor</strong> (<em>array_like</em><em>(</em><em>3</em><em>) or </em><em>str</em>) – box fill color</p></li>
<li><p><strong>alpha</strong> (<em>float</em><em>, </em><em>optional</em>) – transparency, defaults to 1</p></li>
<li><p><strong>thickness</strong> (<em>float</em><em>, </em><em>optional</em>) – line thickness, defaults to None</p></li>
</ul>
</dd>
<dt class="field-even">Returns</dt>
<dd class="field-even"><p>the matplotlib object</p>
</dd>
<dt class="field-odd">Return type</dt>
<dd class="field-odd"><p>list of Line2D or Patch.Rectangle instance</p>
</dd>
</dl>
<p>The box can be specified in many ways:</p>
<ul class="simple">
<li><p>bounding box which is a 2x2 matrix [xmin, xmax, ymin, ymax]</p></li>
<li><p>bounding box [xmin, xmax, ymin, ymax]</p></li>
<li><p>alternative box [xmin, ymin, xmax, ymax]</p></li>
<li><p>centre and width+height</p></li>
<li><p>bottom-left and top-right corners</p></li>
<li><p>bottom-left corner and width+height</p></li>
<li><p>top-right corner and width+height</p></li>
<li><p>top-left corner and width+height</p></li>
</ul>
<p>For plots where the y-axis is inverted (eg. for images) then top is the
smaller vertical coordinate.</p>
<p>Example:</p>
<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="go">ValueError: cant compute box</span>
</pre></div>
</div>
</dd></dl>
<dl class="py function">
<dt class="sig sig-object py" id="spatialmath.base.graphics.plot_circle">
<span class="sig-name descname"><span class="pre">plot_circle</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">radius</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">centre</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">fmt</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">resolution</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">50</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ax</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">filled</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/base/graphics.html#plot_circle"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.base.graphics.plot_circle" title="Permalink to this definition"></a></dt>
<dd><p>Plot a circle using matplotlib</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>centre</strong> (<em>array_like</em><em>(</em><em>2</em><em>)</em><em>, </em><em>optional</em>) – centre of circle, defaults to (0,0)</p></li>
<li><p><strong>args</strong> – </p></li>
<li><p><strong>radius</strong> (<em>float</em>) – radius of circle</p></li>
<li><p><strong>resolution</strong> (<em>int</em><em>, </em><em>optional</em>) – number of points on circumference, defaults to 50</p></li>
</ul>
</dd>
<dt class="field-even">Returns</dt>
<dd class="field-even"><p>the matplotlib object</p>
</dd>
<dt class="field-odd">Return type</dt>
<dd class="field-odd"><p>list of Line2D or Patch.Polygon</p>
</dd>
</dl>
<p>Plot or more circles. If <code class="docutils literal notranslate"><span class="pre">centre</span></code> is a 3xN array, then each column is
taken as the centre of a circle. All circles have the same radius, color
etc.</p>
<p>Example:</p>
<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="go"> File "/opt/hostedtoolcache/Python/3.7.12/x64/lib/python3.7/site-packages/spatialmath/base/argcheck.py", line 230, in getmatrix</span>
<span class="go"> raise TypeError("argument must be scalar or ndarray")</span>
<span class="go">TypeError: argument must be scalar or ndarray</span>
<span class="gt">Traceback (most recent call last):</span>
File <span class="nb">"<input>"</span>, line <span class="m">1</span>, in <span class="n"><module></span>
File <span class="nb">"/opt/hostedtoolcache/Python/3.7.12/x64/lib/python3.7/site-packages/spatialmath/base/graphics.py"</span>, line <span class="m">532</span>, in <span class="n">plot_circle</span>
<span class="n">centres</span> <span class="o">=</span> <span class="n">smbase</span><span class="o">.</span><span class="n">getmatrix</span><span class="p">(</span><span class="n">centre</span><span class="p">,</span> <span class="p">(</span><span class="mi">2</span><span class="p">,</span> <span class="kc">None</span><span class="p">))</span>
File <span class="nb">"/opt/hostedtoolcache/Python/3.7.12/x64/lib/python3.7/site-packages/spatialmath/base/argcheck.py"</span>, line <span class="m">230</span>, in <span class="n">getmatrix</span>
<span class="k">raise</span> <span class="ne">TypeError</span><span class="p">(</span><span class="s2">"argument must be scalar or ndarray"</span><span class="p">)</span>
<span class="gr">TypeError</span>: <span class="n">argument must be scalar or ndarray</span>
<span class="gt">Traceback (most recent call last):</span>
File <span class="nb">"<input>"</span>, line <span class="m">1</span>, in <span class="n"><module></span>
<span class="gr">TypeError</span>: <span class="n">plot_circle() missing 1 required positional argument: 'centre'</span>
</pre></div>
</div>
</dd></dl>
<dl class="py function">
<dt class="sig sig-object py" id="spatialmath.base.graphics.plot_ellipse">
<span class="sig-name descname"><span class="pre">plot_ellipse</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">E</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">fmt</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">centre</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">(0,</span> <span class="pre">0)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">scale</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">confidence</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">resolution</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">40</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">inverted</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ax</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">filled</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/base/graphics.html#plot_ellipse"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.base.graphics.plot_ellipse" title="Permalink to this definition"></a></dt>
<dd><p>Plot an ellipse using matplotlib</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>E</strong> (<em>ndarray</em><em>(</em><em>2</em><em>,</em><em>2</em><em>)</em>) – matrix describing ellipse</p></li>
<li><p><strong>centre</strong> (<em>array_like</em><em>(</em><em>2</em><em>)</em><em>, </em><em>optional</em>) – centre of ellipse, defaults to (0, 0)</p></li>
<li><p><strong>scale</strong> (<em>float</em>) – scale factor for the ellipse radii</p></li>
<li><p><strong>resolution</strong> (<em>int</em><em>, </em><em>optional</em>) – number of points on circumferece, defaults to 40</p></li>
</ul>
</dd>
<dt class="field-even">Returns</dt>
<dd class="field-even"><p>the matplotlib object</p>
</dd>
<dt class="field-odd">Return type</dt>
<dd class="field-odd"><p>Line2D or Patch.Polygon</p>
</dd>
</dl>
<p>The ellipse is defined by <span class="math notranslate nohighlight">\(x^T \mat{E} x = s^2\)</span> where <span class="math notranslate nohighlight">\(x \in
\mathbb{R}^2\)</span> and <span class="math notranslate nohighlight">\(s\)</span> is the scale factor.</p>
<div class="admonition note">
<p class="admonition-title">Note</p>
<p>For some common cases we require <span class="math notranslate nohighlight">\(\mat{E}^{-1}\)</span>, for example
- for robot manipulability</p>
<blockquote>
<div><p><span class="math notranslate nohighlight">\(\nu (\mat{J} \mat{J}^T)^{-1} \nu\)</span> i</p>
</div></blockquote>
<ul class="simple">
<li><p>a covariance matrix
<span class="math notranslate nohighlight">\((x - \mu)^T \mat{P}^{-1} (x - \mu)\)</span></p></li>
</ul>
<p>so to avoid inverting <code class="docutils literal notranslate"><span class="pre">E</span></code> twice to compute the ellipse, we flag that
the inverse is provided using <code class="docutils literal notranslate"><span class="pre">inverted</span></code>.</p>
</div>
<p>Returns a set of <code class="docutils literal notranslate"><span class="pre">resolution</span></code> that lie on the circumference of a circle
of given <code class="docutils literal notranslate"><span class="pre">center</span></code> and <code class="docutils literal notranslate"><span class="pre">radius</span></code>.</p>
<p>Example:</p>
<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="go"> File "<input>", line 1, in <module></span>
<span class="go">NameError: name 'plot_ellipse' is not defined</span>
<span class="gt">Traceback (most recent call last):</span>
File <span class="nb">"<input>"</span>, line <span class="m">1</span>, in <span class="n"><module></span>
<span class="gr">NameError</span>: <span class="n">name 'plot_ellipse' is not defined</span>
</pre></div>
</div>
</dd></dl>
<dl class="py function">
<dt class="sig sig-object py" id="spatialmath.base.graphics.plot_homline">
<span class="sig-name descname"><span class="pre">plot_homline</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">lines</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ax</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">xlim</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ylim</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/base/graphics.html#plot_homline"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.base.graphics.plot_homline" title="Permalink to this definition"></a></dt>
<dd><p>Plot a homogeneous line using matplotlib</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>lines</strong> (<em>array_like</em><em>(</em><em>3</em><em>)</em><em>, </em><em>ndarray</em><em>(</em><em>3</em><em>,</em><em>N</em><em>)</em>) – homgeneous lines</p></li>
<li><p><strong>ax</strong> (<em>Axis</em><em>, </em><em>optional</em>) – axes to plot in, defaults to <code class="docutils literal notranslate"><span class="pre">gca()</span></code></p></li>
<li><p><strong>kwargs</strong> – arguments passed to <code class="docutils literal notranslate"><span class="pre">plot</span></code></p></li>
</ul>
</dd>
<dt class="field-even">Returns</dt>
<dd class="field-even"><p>matplotlib object</p>
</dd>
<dt class="field-odd">Return type</dt>
<dd class="field-odd"><p>list of Line2D instances</p>
</dd>
</dl>
<p>Draws the 2D line given in homogeneous form <span class="math notranslate nohighlight">\(\ell[0] x + \ell[1] y + \ell[2] = 0\)</span> in the current
2D axes.</p>
<p>If <code class="docutils literal notranslate"><span class="pre">lines</span></code> is a 3xN array then <code class="docutils literal notranslate"><span class="pre">N</span></code> lines are drawn, one per column.</p>
<p>Example:</p>
<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">>>> </span><span class="kn">from</span> <span class="nn">spatialmath.base</span> <span class="kn">import</span> <span class="n">plotvol2</span><span class="p">,</span> <span class="n">plot_homline</span>
<span class="gp">>>> </span><span class="n">plotvol2</span><span class="p">(</span><span class="mi">5</span><span class="p">)</span>
<span class="go"><AxesSubplot:xlabel='X', ylabel='Y'></span>
<span class="gp">>>> </span><span class="n">plot_homline</span><span class="p">((</span><span class="mi">1</span><span class="p">,</span> <span class="o">-</span><span class="mi">2</span><span class="p">,</span> <span class="mi">3</span><span class="p">))</span>
<span class="go">[]</span>
<span class="gp">>>> </span><span class="n">plot_homline</span><span class="p">((</span><span class="mi">1</span><span class="p">,</span> <span class="o">-</span><span class="mi">2</span><span class="p">,</span> <span class="mi">3</span><span class="p">),</span> <span class="s1">'k--'</span><span class="p">)</span> <span class="c1"># dashed black line</span>
<span class="go">[]</span>
</pre></div>
</div>
</dd></dl>
<dl class="py function">
<dt class="sig sig-object py" id="spatialmath.base.graphics.plot_point">
<span class="sig-name descname"><span class="pre">plot_point</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">pos</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">marker</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'bs'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">text</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ax</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">textargs</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">textcolor</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/base/graphics.html#plot_point"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.base.graphics.plot_point" title="Permalink to this definition"></a></dt>
<dd><p>Plot a point using matplotlib</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>pos</strong> (<em>array_like</em><em>(</em><em>2</em><em>)</em><em>, </em><em>ndarray</em><em>(</em><em>2</em><em>,</em><em>n</em><em>)</em><em>, </em><em>list of 2-tuples</em>) – position of marker</p></li>
<li><p><strong>marker</strong> (<em>str</em><em> or </em><em>list of str</em><em>, </em><em>optional</em>) – matplotlub marker style, defaults to ‘bs’</p></li>
<li><p><strong>text</strong> (<em>str</em><em>, </em><em>optional</em>) – text label, defaults to None</p></li>
<li><p><strong>ax</strong> (<em>Axis</em><em>, </em><em>optional</em>) – axes to plot in, defaults to <code class="docutils literal notranslate"><span class="pre">gca()</span></code></p></li>
</ul>
</dd>
<dt class="field-even">Returns</dt>
<dd class="field-even"><p>the matplotlib object</p>
</dd>
<dt class="field-odd">Return type</dt>
<dd class="field-odd"><p>list of Text and Line2D instances</p>
</dd>
</dl>
<p>Plot one or more points, with optional text label.</p>
<ul>
<li><p>The color of the marker can be different to the color of the text, the
marker color is specified by a single letter in the marker string.</p></li>
<li><p>A point can have multiple markers, given as a list, which will be
overlaid, for instance <code class="docutils literal notranslate"><span class="pre">["rx",</span> <span class="pre">"ro"]</span></code> will give a ⨂ symbol.</p></li>
<li><p>The optional text label is placed to the right of the marker, and
vertically aligned.</p></li>
<li><p>Multiple points can be marked if <code class="docutils literal notranslate"><span class="pre">pos</span></code> is a 2xn array or a list of
coordinate pairs. In this case:</p>
<blockquote>
<div><ul>
<li><p>all points have the same <code class="docutils literal notranslate"><span class="pre">text</span></code> label</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">text</span></code> can include the format string {} which is susbstituted for the
point index, starting at zero</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">text</span></code> can be a tuple containing a format string followed by vectors
of shape(n). For example:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>``("#{0} a={1:.1f}, b={2:.1f}", a, b)``
</pre></div>
</div>
<p>will label each point with its index (argument 0) and consecutive
elements of <code class="docutils literal notranslate"><span class="pre">a</span></code> and <code class="docutils literal notranslate"><span class="pre">b</span></code> which are arguments 1 and 2 respectively.</p>
</li>
</ul>
</div></blockquote>
</li>
</ul>
<p>Examples:</p>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">plot_point((1,2))</span></code> plot default marker at coordinate (1,2)</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">plot_point((1,2),</span> <span class="pre">'r*')</span></code> plot red star at coordinate (1,2)</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">plot_point((1,2),</span> <span class="pre">'r*',</span> <span class="pre">'foo')</span></code> plot red star at coordinate (1,2) and
label it as ‘foo’</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">plot_point(p,</span> <span class="pre">'r*')</span></code> plot red star at points defined by columns of
<code class="docutils literal notranslate"><span class="pre">p</span></code>.</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">plot_point(p,</span> <span class="pre">'r*',</span> <span class="pre">'foo')</span></code> plot red star at points defined by columns
of <code class="docutils literal notranslate"><span class="pre">p</span></code> and label them all as ‘foo’</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">plot_point(p,</span> <span class="pre">'r*',</span> <span class="pre">'{0}')</span></code> plot red star at points defined by columns
of <code class="docutils literal notranslate"><span class="pre">p</span></code> and label them sequentially from 0</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">plot_point(p,</span> <span class="pre">'r*',</span> <span class="pre">('{1:.1f}',</span> <span class="pre">z))</span></code> plot red star at points defined by
columns of <code class="docutils literal notranslate"><span class="pre">p</span></code> and label them all with successive elements of <code class="docutils literal notranslate"><span class="pre">z</span></code>.</p></li>
</ul>
</dd></dl>
<dl class="py function">
<dt class="sig sig-object py" id="spatialmath.base.graphics.plotvol2">
<span class="sig-name descname"><span class="pre">plotvol2</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ax</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">equal</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">grid</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">labels</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/base/graphics.html#plotvol2"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.base.graphics.plotvol2" title="Permalink to this definition"></a></dt>
<dd><p>Create 2D plot area</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>ax</strong> (<em>AxesSubplot</em><em>, </em><em>optional</em>) – axes of initializer, defaults to new subplot</p></li>
<li><p><strong>equal</strong> (<em>bool</em>) – set aspect ratio to 1:1, default False</p></li>
</ul>
</dd>
<dt class="field-even">Returns</dt>
<dd class="field-even"><p>initialized axes</p>
</dd>
<dt class="field-odd">Return type</dt>
<dd class="field-odd"><p>AxesSubplot</p>
</dd>
</dl>
<p>Initialize axes with dimensions given by <code class="docutils literal notranslate"><span class="pre">dim</span></code> which can be:</p>
<table class="docutils align-default">
<colgroup>
<col style="width: 54%" />
<col style="width: 23%" />
<col style="width: 23%" />
</colgroup>
<thead>
<tr class="row-odd"><th class="head"><p>input</p></th>
<th class="head"><p>xrange</p></th>
<th class="head"><p>yrange</p></th>
</tr>
</thead>
<tbody>
<tr class="row-even"><td><p>A (scalar)</p></td>
<td><p>-A:A</p></td>
<td><p>-A:A</p></td>
</tr>
<tr class="row-odd"><td><p>[A, B]</p></td>
<td><p>A:B</p></td>
<td><p>A:B</p></td>
</tr>
<tr class="row-even"><td><p>[A, B, C, D]</p></td>
<td><p>A:B</p></td>
<td><p>C:D</p></td>
</tr>
</tbody>
</table>
<dl class="field-list simple">
<dt class="field-odd">Seealso</dt>
<dd class="field-odd"><p><a class="reference internal" href="func_3d_graphics.html#spatialmath.base.graphics.plotvol3" title="spatialmath.base.graphics.plotvol3"><code class="xref py py-func docutils literal notranslate"><span class="pre">plotvol3()</span></code></a>, <code class="xref py py-func docutils literal notranslate"><span class="pre">expand_dims()</span></code></p>
</dd>
</dl>
</dd></dl>
</section>
</div>
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