Main Content


Display VectorFieldHistogram information in figure window



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.


collapse all

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])

Input Arguments

collapse all

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

Axes properties, specified as a handle.

Output Arguments

collapse all

Axes handles for VFH algorithm display, specified as an Axes array. 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.

Introduced in R2019b