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%% Plot 3d-Verschiebung
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load('D:\USERDATA\FB2HO01\Forschung\Trajekorienplanung\St<EFBFBD>tzpunktberechnung\Rohpunkte_Bst1.3.mat')
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figure
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hold on
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axis equal
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MRSt = transl(-95.7,0,190)*trotz(-90,'deg');
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MTHr = transl(0,0,225.5)*trotz(90-3.75,'deg')*transl(-2.5,99.971,0)*troty(90,'deg');
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pTrajRS_ohneTCP = MRSt*[cWindingRS.pWinding;zeros(1,size(cWindingRS.pWinding,2));ones(1,size(cWindingRS.pWinding,2))];
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pTrajTH_ohneTCP = MTHr*[cWindingTH.pWinding;zeros(1,size(cWindingTH.pWinding,2));ones(1,size(cWindingTH.pWinding,2))];
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r = 0.789/2;
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for i = 1:1:size(pTrajRS_ohneTCP,2)
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circle3(pTrajRS_ohneTCP(1,i),pTrajRS_ohneTCP(2,i),pTrajRS_ohneTCP(3,i),[0;0;1],r,'black')
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end
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for i = 1:1:size(pTrajTH_ohneTCP,2)
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circle3(pTrajTH_ohneTCP(1,i),pTrajTH_ohneTCP(2,i),pTrajTH_ohneTCP(3,i),cross([pTrajTH_ohneTCP(1,i);pTrajTH_ohneTCP(2,i);pTrajTH_ohneTCP(3,i)],[0;0;1]),r,'black')
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end
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box off
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tightfig;
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axis off
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