Colony

function [mov] = visualizeRobots(f,n,Xs,Ys,Thetas,idx,color,makeMovie,mov,winsize)

clf;

ax = [min(min(Xs))-1, max(max(Xs))+1, min(min(Ys))-1, max(max(Ys))+1];

if ax(1) > -10

    ax(1) = -10;

end

if ax(2) < 10

    ax(2) = 10;

end

if ax(3) > -10

    ax(3) = -10;

end

if ax(4) < 10

    ax(4) = 10;

end

axis(ax);

%axis([-10 10 -10 10])

axis manual

set( gca,'nextplot','add' );

for j = 1:n

    h = plot_arrow( Xs(j,idx),Ys(j,idx),Xs(j,idx)+cos(Thetas(j,idx)),Ys(j,idx)+sin(Thetas(j,idx)),...

        'color',color(j,:),'facecolor',color(j,:),'edgecolor',color(j,:) );

    set( h,'linewidth',2 );

end

hold off;

if makeMovie == true

    if idx < 3 %so we don't see giant arrows

        clf

    end

    mov(:,idx) = getframe(f,winsize);

else

    mov = [];

end

end