Submitted version of the thesis - Airlab, the Artificial Intelligence ...

132 Appendix B. Documentation of the programming
offset1 = [−R robot∗cosA−vn(2)∗s1∗cosA; R robot∗sinA+vn(2)∗ s1∗sinA ];
if (vn(2)∗s1∗sinA < 0)
M = m rot(−pi/2−alpha );
else
M = m rot(pi/2−alpha );
end
m arr1 = M∗m arr + [ offset1 offset1 offset1 ];
v txt1 = M∗v txt + offset1 ;
fill (m arr1(1 ,:) , m arr1 (2 ,:) , ’g ’ );
text(v txt1 (1) , v txt1 (2) , ’v {n2} ’ );
end
% ruota 3
if (vt(3) ˜= 0)
line ([0 , −vt(3)∗s1],[−R robot , −R robot ] , ’Color ’ ,[0 1 0]);
offset1 = [−vt(3)∗s1 ; −R robot ];
if(−vt(3)∗s1 < 0)
M = m rot(pi/2);
else
M = m rot(−pi/2);
end
m arr1 = M∗m arr + [ offset1 offset1 offset1 ];
v txt1 = M∗v txt + offset1 ;
fill (m arr1(1 ,:) , m arr1 (2 ,:) , ’g ’ );
text(v txt1 (1) , v txt1 (2) , ’v {t3} ’ );
end
if (vn(3) ˜= 0)
line ([0 , 0],[−R robot , −R robot−vn(3)∗s1 ] , ’Color ’ ,[0 1 0])
offset1 = [0; −R robot−vn(3)∗s1 ];
if(−vn(3)∗s1 < 0)
M = m rot(pi );
else
M = m rot (0);
end
m arr1 = M∗m arr + [ offset1 offset1 offset1 ];
v txt1 = M∗v txt + offset1 ;
fill (m arr1(1 ,:) , m arr1 (2 ,:) , ’g ’ );