root / branches / 16299_s10 / matlab / visualizeRobots.m @ 1793
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function [mov] = visualizeRobots(f,n,Xs,Ys,Thetas,idx,color,makeMovie,mov,winsize) |
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clf; |
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ax = [min(min(Xs))-1, max(max(Xs))+1, min(min(Ys))-1, max(max(Ys))+1]; |
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if ax(1) > -10 |
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ax(1) = -10; |
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end |
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if ax(2) < 10 |
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ax(2) = 10; |
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end |
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if ax(3) > -10 |
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ax(3) = -10; |
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end |
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if ax(4) < 10 |
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ax(4) = 10; |
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end |
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axis(ax); |
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%axis([-10 10 -10 10]) |
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axis manual |
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set( gca,'nextplot','add' ); |
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for j = 1:n |
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h = plot_arrow( Xs(j,idx),Ys(j,idx),Xs(j,idx)+cos(Thetas(j,idx)),Ys(j,idx)+sin(Thetas(j,idx)),... |
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'color',color(j,:),'facecolor',color(j,:),'edgecolor',color(j,:) ); |
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set( h,'linewidth',2 ); |
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end |
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hold off; |
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if makeMovie == true |
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if idx < 3 %so we don't see giant arrows |
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clf |
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end |
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mov(:,idx) = getframe(f,winsize); |
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else |
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mov = []; |
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end |
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end |