commenting

planPathPRM.m

@@ -11,6 +11,8 @@
 %	- mapFilePath : the path to get the .mat file
 % - startPoint : our starting point for the path planning
 % - endPoint : our final goal
+% - L1: link1 size (m)
+% - L2: link2 size (m)
 %
 % Outputs:
 %	- None
@@ -51,6 +53,8 @@ function planPathPRM (mapFilePath, startPoint, endPoint, L1, L2)
 
   [distanceToNode, parentOfNode, nodeTrajectory] = dijkstra(numberOfNodes,visibilityGraph); %and finally use the dijkstra algorithm for path planning
 
+
+## drawing the path 
   figure 3; hold on;
   b=drawCircle(0, 0, L1+L2); %teacher's functions for drawing circles
   hold on;