Minor edit on IK_nullspace plot

matlab/IK_nullspace.m

@@ -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);