How can I use plotTransforms in App Designer?

I have the following code that draws a robot on a binary occupancy map.

load exampleMaps.mat

map = binaryOccupancyMap(simpleMap,1);
fig = figure('Name','SimpleMap');
show(map);

poses = [5;5;1.57];
plotTrvec = [poses(1:2, 1); 0];
plotRot = axang2quat([0 0 1 poses(3, 1)]);
plotTransforms(plotTrvec', plotRot, 'MeshFilePath', 'groundvehicle.stl', 'View', '2D', 'Parent', fig.CurrentAxes);

I would like to create an app in App Designer that displays this result. I have added one Axes(app.UIAxes) and Button(app.Button) object each to my app and added the following callback functions.

% Callbacks that handle component events
methods (Access = private)

    % Code that executes after component creation
    function startupFcn(app)
        load exampleMaps.mat
        map = binaryOccupancyMap(simpleMap,1);
        show(map, 'Parent', app.UIAxes);
    end

    % Button pushed function: Button
    function ButtonPushed(app, event)
        poses = [5;5;1.57];
        plotTrvec = [poses(1:2, 1); 0];
        plotRot = axang2quat([0 0 1 poses(3, 1)]);
        plotTransforms(plotTrvec', plotRot, 'MeshFilePath', 'groundvehicle.stl', 'View', '2D', 'Parent', app.UIAxes);
    end
end

The map is displayed correctly in the map. However, when I push the Button I get the following error,

Error using plotTransforms (line 97)
The value of 'Parent' is invalid. Expected Parent to be one of these types:

matlab.graphics.axis.Axes

Instead its type was matlab.ui.control.UIAxes.

I am not sure why I am getting this error, as the documentation of plotTransforms says the value of the 'Parent' property can be either an Axes or UIAxes object.

https://uk.mathworks.com/help/nav/ref/plottransforms.html

Is there another way to show the results of plotTransforms in App Designer that I may be missing?

Answer 1

[Cris LaPierre]

I will confirm that the R2020a documentation states that the parent for plottransforms can be an axes of a uiaxes. When I tested in R2020b, it did work. However, when I tested in R2020a and R2020a Update 6, I got the same error message.

I also tested in MATLAB (not app designer) using the following simple script, and it also resulted in the same error message.

ax=uiaxes;
tr = [1 1 1; 2 2 2];
ro = [1 1 1 0; 1 3 5 0];
plotTransforms(tr,ro,'Parent',ax)

It appears to be a situation where the documentation got ahead of the product. I do not believe there is a workaround to get it to work in 20a. If you can, my suggestion is to update to 20b.