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4RRR Kinematics with GUI and Mouse Support

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Fully Generalized 4RRR Kinematics with GUI

[platformplot serplot curveplot]=parallelplot1init(j_vars, bases, lengths, serplot)
function [platformplot serplot curveplot]=parallelplot1init(j_vars, bases, lengths, serplot)
hold off;
plot(0,0);
axis manual;
scope=10;
axis([-scope scope -scope scope]);
hold on;
xy3=zeros(5,2);
for i=1:4
    [xy3(i,:) serplot]=serialplotinit(j_vars(1,i*3-2:i*3),bases(i,:),lengths(i,:),i, serplot);
end
xy3(5,:)=xy3(1,:);
platformplot=plot(xy3(:,1),xy3(:,2),'m-','EraseMode','xor');
% pause(0.1);
plot(bases(:,1),bases(:,2),'or');
j_vars=ones(2,12);
curveplot    = plot(j_vars(1,:),j_vars(2,:),'color','k','linewidth',2);
return

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