h_captf(p1,p2, Body, ...

% h_captf: used in human_c or f2_36
function y =  h_captf(p1,p2, Body,   ... 
Rarm1,Rarm2,Larm1,Larm2, ...
Rleg1,Rleg2,Lleg1,Lleg2  )
%10,10,30,30,90 30 90 90 20
x0=p1(1);
y0=p1(2);
x1=p2(1);
y1=p2(2);
c = (x1-x0)/2;  d = (y1 - y0)/2;
f = (x1+x0)/2;  g = (y1 + y0)/2;
M = [c,-d; d,c]/3; F = [f,g]';
  thb = Body/180*pi;% body angle
  thrh1=Rarm1/180*pi;% right arm theta-1
  thrh2=Rarm2/180*pi;% right arm theta-2
  thlh1=Larm1/180*pi;% left arm theta-1
  thlh2=Larm2/180*pi;% left arm theta-2
  thrg1=Rleg1/180*pi;% right leg theta-1
  thrg2=Rleg2/180*pi;% right leg theta-2
  thlg1=Lleg1/180*pi;% left leg theta-1
  thlg2=Lleg2/180*pi;% left leg theta-2
  t = 0:0.25:6.3;
% body
  b1=[0,0]';
  b2=b1 + 1.5*[sin(thb), cos(thb)]';
  b3=b1 + 2*[sin(thb), cos(thb)]';
  b=[b1,b2,b3];
  [m,n]=size(b); w=ones(1,n); b = M*b+[f*w;g*w]; 
  plot(b(1,:), b(2,:))
  plot([b(1,1),b(1,1)], [b(2,1), b(2,1)+0.7],':')
  text(b(1,1)-1.,b(2,1)+0.5, 'Body=10')
  arc_(b(1,1),b(2,1),0.5,90,80)
% head
  b4=b3+1.*[sin(thb), cos(thb)]';
  xHd= 1.*cos(t)+b4(1);
  yHd= 1.*sin(t)+b4(2);
  b = [xHd; yHd];
  w=ones(1,n);
  [m,n]=size(b); w=ones(1,n); b = M*b+[f*w;g*w]; 
  plot(b(1,:), b(2,:))

%right arm/hand
  rh1=b2;
  rh2=rh1 + 1.5*[cos(thrh1), sin(thrh1)]';
  rh3=rh2 + 1.5*[cos(thrh2), sin(thrh2)]';
  rh4=rh3 + 0.2*[cos(thrh2), sin(thrh2)]';
  b=[rh1,rh2,rh3];
 w=ones(1,n);
  [m,n]=size(b); w=ones(1,n); b = M*b+[f*w;g*w]; 
  plot(b(1,:), b(2,:))
plot([b(1,1),b(1,1)+0.7], [b(2,1), b(2,1)],':')
plot([b(1,2),b(1,2)+0.7], [b(2,2), b(2,2)],':')
  text(b(1,1)+0.2,b(2,1)-0.15, 'Rarm1=10')
  arc_(b(1,1),b(2,1), 0.5, 0,10)
  text(b(1,2)+0.3,b(2,2)-0.15, 'Rarm2=30')
  arc_(b(1,2),b(2,2),0.5,0,30)

  xrp= 0.2*cos(t)+rh4(1);
  yrp= 0.2*sin(t)+rh4(2);
  b=[xrp;yrp];
  w=ones(1,n);
  [m,n]=size(b); w=ones(1,n); b = M*b+[f*w;g*w]; 
  plot(b(1,:), b(2,:))
%plot([b(1,1),b(1,1)+0.7], [b(2,1), b(2,1)],':')

%left arm/hand
  lh1=b2;
  lh2=lh1 + 1.5*[-cos(thlh1), sin(thlh1)]';
  lh3=lh2 + 1.5*[-cos(thlh2), sin(thlh2)]';
  lh4=lh3 + 0.2*[-cos(thlh2), sin(thlh2)]';
  b=[lh1,lh2,lh3];
w=ones(1,n);
  [m,n]=size(b); w=ones(1,n); b = M*b+[f*w;g*w] ;
  plot(b(1,:), b(2,:))
  plot([b(1,1),b(1,1)-0.7], [b(2,1), b(2,1)],':')
  arc_(b(1,2),b(2,2),0.5,90,180)
plot([b(1,2),b(1,2)-0.7], [b(2,2), b(2,2)],':')
  arc_(b(1,1),b(2,1),0.5,150,180)
  text(b(1,1)-1.5,b(2,1)+0.15, 'Larm1=30')
  text(b(1,2)-1.5,b(2,2)+0.15, 'Larm2=90')



  xlp= 0.2*cos(t)+lh4(1);
  ylp= 0.2*sin(t)+lh4(2);
b = [xlp;ylp];
 w=ones(1,n);
  [m,n]=size(b); w=ones(1,n); b = M*b+[f*w;g*w] ;
  plot(b(1,:), b(2,:))
%plot([b(1,1),b(1,1)-0.7], [b(2,1), b(2,1)],':')
%right leg/foot
  rg1=b1;
  rg2=rg1 + 1*[cos(thrg1), -sin(thrg1)]';
  rg3=rg2 + 1.5*[cos(thrg2), -sin(thrg2)]';
  rg4=rg3 + 0.2*[cos(thrg2), -sin(thrg2)]';
  b=[rg1,rg2,rg3];
  w=ones(1,n);
  [m,n]=size(b); w=ones(1,n); b = M*b+[f*w;g*w]; 
  plot(b(1,:), b(2,:))
  plot([b(1,1),b(1,1)+0.7], [b(2,1), b(2,1)],':')
  arc_(b(1,1),b(2,1),0.5,0,-30)
plot([b(1,2),b(1,2)+0.7], [b(2,2), b(2,2)],':')
  text(b(1,1)+0.5,b(2,1)-0.15, 'Rleg1=30')
  text(b(1,2)+0.3,b(2,2)-0.25, 'Rleg2=90')
  arc_(b(1,2),b(2,2),0.5,0,-90)

  xrf= 0.2*cos(t)+rg4(1);
  yrf= 0.2*sin(t)+rg4(2);
  b=[ xrf; yrf];
  w=ones(1,n);
  [m,n]=size(b); w=ones(1,n); b = M*b+[f*w;g*w]; 
  plot(b(1,:), b(2,:))

%left leg/foot
  lg1=b1;
  lg2=lg1 + 1.*[-cos(thlg1), -sin(thlg1)]';
  lg3=lg2 + 1.5*[-cos(thlg2), -sin(thlg2)]';
  lg4=lg3 + 0.2*[-cos(thlg2), -sin(thlg2)]';
  b=[lg1,lg2,lg3];
  w=ones(1,n);
  [m,n]=size(b); w=ones(1,n); b = M*b+[f*w;g*w]; 
  plot(b(1,:), b(2,:))
  plot([b(1,1),b(1,1)-0.7], [b(2,1), b(2,1)],':')
arc_(b(1,1),b(2,1),0.5,180,270)
plot([b(1,2),b(1,2)-0.7], [b(2,2), b(2,2)],':')
  text(b(1,1)-1.0,b(2,1)-0.15, 'Lleg1=90')
  text(b(1,2)-0.5,b(2,2)-0.35, 'Lleg2=20')
arc_(b(1,2),b(2,2),0.5,180,200)



  xlf= 0.2*cos(t)+lg4(1);
  ylf= 0.2*sin(t)+lg4(2);
  b=[xlf;ylf];

  [m,n]=size(b); w=ones(1,n); b = M*b+[f*w;g*w] ;
  plot(b(1,:), b(2,:))

%title('human_capt.m human_capt.ps, Figure 2.28')