oh

buildPRM.m

@@ -1,46 +0,0 @@
-function path = buildPRM(L1, L2, x1, y1, x2, y2)
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% function  path = buildPRM(L1, L2)
-% Task: Determine the 3D transformation matrix corresponding to a set of Denavit-Hartenberg parameters
-%
-% Inputs:
-%	- L1: first length
-%	- L2: second length
-% - x1: start point x
-% - y1: first point y
-% - x2: end point x
-% - y2: end point y
-%
-% Output:
-%	-path: Vector of points
-%
-% author: Marais Lucas
-% date: 22/11/2023
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-x3 = [-L2 L2 -L2 L2];
-y3 = [-L2 -L2 L2 L2];
-x1 = [-L1-L2 L1+L2 -L1-L2 L1+L2];
-y1 = [-L1-L2 -L1-L2 L1+L2 L1+L2];
-x2 = [-L1 -L1 L1 L1];
-y2 = [-L1 L1 -L1 L1];
-
-
-fill(x1, y1, 'r');
-
-hold on;
-
-t = linspace(0, 2*pi, 100)';
-r=L1+L2;
-circsx = r.*cos(t) + 0;
-circsy = r.*sin(t) + 0;
-fill(circsx, circsy, 'w');
-
-hold on;
-fill(x2, y2, 'b');
-hold on;
-plot(x4, y4, 'g');
-hold on;
-
-
-

buildRRT.m

@@ -0,0 +1,54 @@
+function path = buildRRT(L1, L2, x1, y1, x2, y2)
+  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+  % function  path = buildPRM(L1, L2)
+  % Task: Determine the 3D transformation matrix corresponding to a set of Denavit-Hartenberg parameters
+  %
+  % Inputs:
+  %	- L1: first length
+  %	- L2: second length
+  % - x1: start point x
+  % - y1: first point y
+  % - x2: end point x
+  % - y2: end point y
+  %
+  % Output:
+  %	-path: Vector of points
+  %
+  % author: Marais Lucas
+  % date: 22/11/2023
+  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+
+  x3 = [-L2 -L2 L2 L2];
+  y3 = [-L2 L2 L2 -L2];
+  x1 = [-L1-L2 -L1-L2 L1+L2 L1+L2];
+  y1 = [-L1-L2 L1+L2 L1+L2 -L1-L2];
+  x2 = [-L1-L2 -L1-L2 L1+L2 L1+L2];
+  y2 = [-L1 L1 L1 -L1];
+
+
+  fill(x1, y1, 'r');
+
+  hold on;
+
+
+
+
+
+
+
+  t = linspace(0, 2*pi, 100)';
+  r=L1+L2;
+  circsx = r.*cos(t) + 0;
+  circsy = r.*sin(t) + 0;
+  hold on;
+  fill(x2, y2, 'w');
+  hold on;
+  plot(circsx, circsy, 'b');
+
+  hold on;
+  fill(x3, y3, 'b');
+  hold on;
+
+
+