diff --git a/ShoulderCase/Plane.m b/ShoulderCase/Plane.m
index 4c37d13..50c9837 100644
--- a/ShoulderCase/Plane.m
+++ b/ShoulderCase/Plane.m
@@ -1,69 +1,80 @@
 classdef Plane < handle
 
 
 
   properties
     normal
     point
     fitPerformance
   end
 
 
 
   methods
 
     function obj = Plane()
       obj.normal        = [];
       obj.point         = [];
 
       obj.fitPerformance.points     = [];
       obj.fitPerformance.residuals  = [];
       obj.fitPerformance.RMSE       = [];
       obj.fitPerformance.R2         = [];
     end
 
+    function plot(obj,center,width,length)
+      xAxis = obj.projectOnPlane(obj.point + [1 0 0]);
+      xAxis = xAxis/norm(xAxis);
+      yAxis = cross(xAxis,obj.normal);
+      plottedPointsCoordinates = [1 1;1 -1;-1 -1;-1 1];
+      XYZ = xAxis.*plottedPointsCoordinates(:,1)*width +...
+            yAxis.*plottedPointsCoordinates(:,2)*length +...
+            center
+      patch(XYZ(:,1),XYZ(:,2),XYZ(:,3),'black','FaceAlpha',0.3); % Transparent plane
+    end
+
     function fit(obj,points)
       % Fit current plane to given points
       [coeff,score,roots] = pca(points);
       normal = cross(coeff(:,1),coeff(:,2));
       normal = normal/norm(normal);
 
       meanPoint = mean(points,1);
       estimatedPoints = repmat(meanPoint,size(points,1),1) +...
                                score(:,1:2)*coeff(:,1:2)';
       residuals = points - estimatedPoints;
 
       error =  vecnorm(residuals,2,2);
       RMSE = norm(error)/sqrt(size(points,1));
 
       sumSquareError = sum(error.^2);
       total = vecnorm(points - meanPoint,2,2)';
       sumSquareTotal = sum(total.^2);
       R2 = 1-(sumSquareError/sumSquareTotal); %http://en.wikipedia.org/wiki/Coefficient_of_determination
 
       obj.normal        = normal';
       obj.point         = meanPoint;
       obj.setFitPerformance(points,residuals,RMSE,R2);
     end
 
     function setFitPerformance(obj,points,residuals,RMSE,R2)
       obj.fitPerformance.points = points;
       obj.fitPerformance.residuals = residuals;
       obj.fitPerformance.RMSE = RMSE;
       obj.fitPerformance.R2 = R2;
     end
 
     function setPointOnPlane(obj,point)
       obj.point = point;
     end
 
     function projectedPoints = projectOnPlane(obj,points)
       N2 = obj.normal.'*obj.normal;
       projectedPoints = points*(eye(3)-N2)+repmat(obj.point*N2,size(points,1),1);
     end
 
   end
 
 
 
 end