[flag_set]=set_dimensions()

%Sumit Tripathi
function [flag_set]=set_dimensions()
global theta1_g d1_g theta2_g d2_g;
global x_ee_g y_ee_g phi_g;
global pF_jr2_g pF_pL1_prism_g pF_pL2_prism_g;
global jr2_g  pL1_prism_g  pL2_prism_g;
global x1_g y1_g r_g len_g wd_g;
global Link1_g Link2_g joint2_g;
global pF_EE_RPRP_g  pEE_RPRP_g EE_g;

while(theta1_g>360)
    theta1_g=theta1_g-360;
end
while(theta2_g>360)
    theta2_g= theta2_g-360;
end
while(theta1_g<(-360))
    theta1_g=theta1_g+360;
end
while(theta2_g<(-360))
    theta2_g= theta2_g+360;
end

if((d1_g<=15)&(d1_g>=6)&(d2_g<=15)&(d2_g>=6)&(theta1_g<=360)&(theta1_g>=-360)&(theta2_g<=360)&(theta2_g>=-360))
    flag_set=1;
    wd=wd_g;
    xc=0;yc=0;
    plunger1=d1_g-5;
    xend_pL1_plunger=xc+ 5 +plunger1;
    xep=xend_pL1_plunger;
    wdc=wd_g/4;
    ypL1_prism=[yc-.5 yc-.5  yc-wd  yc-wd  yc-wd+.5  yc-wd+.5  yc-wd   yc-wd yc-wdc yc-wdc yc+wdc yc+wdc  yc+wd  yc+wd   yc+wd-.5  yc+wd-.5  yc+wd  yc+wd  yc+.5  yc+.5];
    xpL1_prism=[xc    xc+.5  xc+.5  xc+1   xc+1      xc+4.5    xc+4.5  xc+5  xc+5   xc+xep xc+xep xc+5    xc+5   xc+4.5  xc+4.5    xc+1      xc+1   xc+.5  xc+.5  xc];
    pL1_prism_g=[xpL1_prism' ypL1_prism' zeros(size(xpL1_prism))' ones(size(xpL1_prism))']';  % "rotaion joint" # 1 matrix

    plunger2=d2_g-5;
    xend_pL2_plunger=xc + 5 +plunger2;
    xep=xend_pL2_plunger;
    wdc=wd_g/4;
    ypL2_prism=[yc-.5 yc-.5  yc-wd  yc-wd  yc-wd+.5  yc-wd+.5  yc-wd   yc-wd yc-wdc yc-wdc yc+wdc yc+wdc  yc+wd  yc+wd   yc+wd-.5  yc+wd-.5  yc+wd  yc+wd  yc+.5  yc+.5];
    xpL2_prism=[xc    xc+.5  xc+.5  xc+1   xc+1      xc+4.5    xc+4.5  xc+5  xc+5   xc+xep xc+xep xc+5    xc+5   xc+4.5  xc+4.5    xc+1      xc+1   xc+.5  xc+.5  xc];
    pL2_prism_g=[xpL2_prism' ypL2_prism' zeros(size(xpL2_prism))' ones(size(xpL2_prism))']';  % "prismatic joint" # 2 matrix

    %Calculations to draw end effector
    wd=len_g/2;
    yc=0;xc=0;
    wdc=wd_g/2;
    yEE_RPRP=[yc+wd  yc+wd-wdc yc+wd-wdc   yc-wd+wdc   yc-wd+wdc yc-wd];
    xEE_RPRP=[xc     xc+len_g  xc+len_g/2  xc+len_g/2  xc+len_g    xc];
    pEE_RPRP_g=[xEE_RPRP' yEE_RPRP' zeros(size(xEE_RPRP))' ones(size(xEE_RPRP))']';
else
    flag_set=0;
end