function [u1, u2, u3, v1, v2, v3] = vertices(x, y, theta, gamma, L2, L3)

u1 = x;
u2 = x+L3*cos(theta);
u3 = x+L2*cos(theta+gamma);
v1 = y;
v2 = y+L3*sin(theta);
v3 = y+L2*sin(theta+gamma);

pp1 = sqrt(u1^2 + v1^2)
pp2 = sqrt((u2-5)^2 + v2^2)
pp3 = sqrt(u3^2 + (v3-6)^2)

end