Skip to content
Snippets Groups Projects
Commit 85b95e4e authored by Teguh Santoso Lembono's avatar Teguh Santoso Lembono
Browse files

Minor edit on IK_nullspace plot

parent b7e85462
No related branches found
No related tags found
No related merge requests found
......@@ -40,7 +40,7 @@ param.l = [2; 2; 1]; %Link lengths
%% Initialization
x = [3*pi/4; -pi/2; -pi/4]; %Initial pose
h = figure; hold on; axis off equal;
h = figure('position',[10,10,800,800],'color',[1,1,1]); hold on; axis off;
plot(param.fh(1,:), param.fh(2,:), 'r.','markersize',30); %Plot target
%% IK with nullspace
......@@ -117,10 +117,14 @@ for t=1:param.nbIter
%Plot the robot
fs = fkin0(x, param);
plot(fs(1,:), fs(2,:), 'k-');
%plot(ftmp(1,:), ftmp(2,:), '-','linewidth',4,'color',[.8 .8 .8]);
plot(fs(1,:), fs(2,:), '-','linewidth',4,'color',[.8 .8 .8]);
end
%Plot the final configuration
fs = fkin0(x, param);
plot(fs(1,:), fs(2,:), '-','linewidth',4,'color',[.4 .4 .4]);
axis equal;
waitfor(h);
......
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Please register or to comment