% R_VIEWSPLI	View the movement trajectory of robots and square box.%     Copyright (c) 1998-2000 Jiming Liu and Jianbing Wuclose all;clear all;%FLname='d:\maxplus2\rect\result\rect01';FLname='d:\maxplus2\rect\result\rect02';eval(['load ' FLname ';']);figHistory=figure(...            'Color',[0 0 0],...            'Position',[100 0 600 600],...            'Resize','on',...            'NumberTitle','off',...            'Name','Distribution Show');  Point_X=0;  Point_Y=0;  View_Width=100;  End_X=Point_X+View_Width;  End_Y=Point_Y+View_Width;BeginPoint=84;EndPoint=152;ROHistory=[RobotHistory(BeginPoint:EndPoint,:) ObjectHistory(BeginPoint:EndPoint,1:2)];OHistory=ObjectHistory(BeginPoint:EndPoint,:);%ChHistory=ChromHistory(BeginPoint:EndPoint,:);GHistory=GoalHistory(BeginPoint:EndPoint,:);clf;                     plot(Point_X,Point_Y,'color',[1 1 1]);axis([Point_X,End_X,Point_Y,End_Y]);axis on;                 hold on;                 SplineLength=EndPoint-BeginPoint+1;;  for mm=1:4    LocationX=ROHistory(SplineLength,(mm-1)*2+1);    LocationY=ROHistory(SplineLength,mm*2);    X_Vector=[];    Y_Vector=[];    for nn=1:SplineLength      Last_X=ROHistory(nn,(mm-1)*2+1);      Last_Y=ROHistory(nn,mm*2);      X_Vector=[X_Vector Last_X];      Y_Vector=[Y_Vector Last_Y];    end        t=1:SplineLength;    ts=1:0.1:SplineLength;    xs=spline(t,X_Vector,ts);    ys=spline(t,Y_Vector,ts);    if mm==1      plot(xs,ys,'b:');    elseif mm==2      plot(xs,ys,'r--');     elseif mm==3      plot(xs,ys,'g-.');    elseif mm==4      plot(xs,ys,'k-');    end    if mm==4      [FirstArray,SecondArray,WhichPoint]=plotsquare(OHistory(SplineLength,:),ObjectSize);      line(FirstArray,SecondArray);      line([OHistory(SplineLength,1) WhichPoint(1)],[OHistory(SplineLength,2) WhichPoint(2)]);    else      ObjectPosition=OHistory(SplineLength,1:2);      CurrentRobot=ROHistory(SplineLength,(mm-1)*2+1:2*mm);      [FirstArray,SecondArray,Fill1Array,Fill2Array]=plotrob(ObjectPosition,CurrentRobot,RobotSize,ObjectSize);      line(FirstArray,SecondArray);      fill(Fill1Array,Fill2Array,'k');    end;  endplot(70,90, 'Marker','^');plot(39,26, 'Marker','d');plot(GHistory(SplineLength,1), GHistory(SplineLength,2), 'Marker','+');drawnow;title('Motion Trajectory');gtext('t=152');gtext('t=90');gtext('t=84');print d:\maxplus2\rect\result\ps\r284_152 -dps;