%MOTION % sets up some control points, a final orientation frame, and then calls % pumamrcntrl % % Syntax: motion() % % Other m-files required: pumamrcntrl.m, goThrough.m, stopCubicBez.m % Author: Travis Hydzik % Last revision: 19 October 2004 function motion() CP = goThrough([], [-3 0 1.5], [0 4 0]); CP = goThrough(CP, [0 3 2], [4 0 0]); CP = goThrough(CP, [3 0 2.5], [0 -4 0]); CP = stopCubicBez(CP, [2 -2 4], [-3 0 0]); theta = [-1.5708 0.7844 -3.6295 0.0000 0.2965 -1.5708]; param = [2 2 2 0.5]; dt = .2; drawmode = [2 0 0]; Tf = [ 1 0 0 0; 0 1 0 0; 0 0 1 0; 0 0 0 1]; theta2 = pumamrcntrl(theta, param, CP, Tf, dt, drawmode);