function createfigure(Y1, Y2, YMatrix1)
%CREATEFIGURE(Y1,Y2,YMATRIX1)
%  Y1:  vector of y data
%  Y2:  vector of y data
%  YMATRIX1:  matrix of y data

%  Auto-generated by MATLAB on 12-Sep-2008 17:31:30

% Create figure
figure1 = figure('XVisual',...
    '0x24 (TrueColor, depth 24, RGB mask 0xff0000 0xff00 0x00ff)');

% Create subplot
subplot1 = subplot(3,1,1,'Parent',figure1,'FontSize',12);
box('on');
grid('on');
hold('all');

% Create plot
plot(Y1,'Parent',subplot1,'Marker','.','LineStyle','none');

% Create title
title('error in translation (m)','FontSize',14);

% Create subplot
subplot2 = subplot(3,1,2,'Parent',figure1,'FontSize',12);
box('on');
grid('on');
hold('all');

% Create plot
plot(Y2,'Parent',subplot2,'Marker','.','LineStyle','none');

% Create title
title('error in rotation (degrees)','FontSize',14);

% Create subplot
subplot3 = subplot(3,1,3,'Parent',figure1,'FontSize',12);
grid('on');
hold('all');

% Create multiple lines using matrix input to plot
plot1 = plot(YMatrix1,'Parent',subplot3,'LineStyle','none');
set(plot1(1),'Marker','.','Color',[1 0 0],'DisplayName','estimated');
set(plot1(2),'Marker','+','DisplayName','true','Color',[0 0 0]);

% Create title
title('absolute rotations','FontSize',14);

% Create legend
legend1 = legend(subplot3,'show');
set(legend1,'Position',[0.1582 0.2507 0.07792 0.05427]);