function DrawObstacles()
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%function DrawObstacles
%
% Task: Creates 10 000 random points in the x y cartesian space that are part of the known obstacles
%       Computes their corresponding q1 q2 values thanks to Inverse Kinematics
%       adds the obstacles in a red color to the figure that should have been previously drawned using PRM or RRT algorithms
%       
%
% Inputs: 
%
% Outputs:
%		
%
% Thomas OLIVE (thomas.olive@ecam.fr)
% 18/12/2021
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

  [S, G, randVmin, randVmax, L1, L2, threshold] = setParams();
  qi = [];
  q1_plot = [];
  q2_plot = [];
  x_plot = [];
  y_plot = [];
  
  for i=1:10000
    x = -(L1+L2) + rand()*2*(L1+L2); %creating random x and y values
    y = -(L1+L2) + rand()*2*(L1+L2);
    if(y >= L1 - threshold || y <= -L1 + threshold || (x>=-L2 - threshold && x<=L2 - threshold && y>=-L2 - threshold && y<=L2 + threshold))% keeping them if they are inside the obstacles
      
      [nbSol, qi] = solveIK2LinkPlanarRobot(L1, L2, x, y);% computing their corresponding q1 q2 coordinates
      for j=1:nbSol
        % saving the computed coordinates
        q1 = qi(j,1);
        q2 = qi(j,2);
        if q2 > 180
          q2 = q2-360; %the IK function is returning q2 values between 0 and 360
        endif
        q1_plot = [q1_plot q1];
        
        q2_plot = [q2_plot q2];
      endfor
      x_plot = [x_plot x];
      
      y_plot = [y_plot y]; 
    endif
  endfor
  %plotting the points in the two different spaces, red color
  figure 1
  plot(q1_plot, q2_plot, '*', 'Color', 'r')
  figure 2
  plot(x_plot, y_plot, '*', 'Color', 'r')
endfunction