%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% doit.m
% This will do lots of stuff.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
fprintf(1,'\n\nStarting...\n');

clear;

global X1;
global Y1;
global X2;
global Y2;
global P1;
global P2;
global P3;
global L1;
global L2;
global L3;
global R;

X1 = 4;
Y1 = 0;
X2 = 0;
Y2 = 4;

P1 = sqrt(5);
P2 = sqrt(5);
P3 = sqrt(5);

L1=2;
L2=sqrt(2);
L3=sqrt(2);

R=pi/2;

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 1 Test Function
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
fprintf(1,'\n\nTesting function...\n');
f(tan(-pi/8))
f(tan(pi/8))


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 2 Bisection Method
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
fprintf(1,'\n\nApplying the bisection method...\n');
bisect(.4,.5,10);

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 3 Bisection Method Again
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
fprintf(1,'\n\nApplying the bisection method again...\n');
bisect(-.4,-.5,10);

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 4 Secant Method
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
fprintf(1,'\n\nApplying the secant method...\n');
secant(.4,.5,10);
fprintf(1,'\n\nNewtons Method is not a good choice for this problem because the derivative of the function is required, which is too difficult to find.\n');

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 5 Six Poses
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
fprintf(1,'\n\nFinding six poses...\n');

X1 = 5;
Y1 = 0;
X2 = 0;
Y2 = 5;

P1 = 5;
P2 = 5;
P3 = 4;

L1=6;
L2=6*sqrt(2);
L3=6;

R=pi/4;

fprintf(1,'(see plot window)\n');
hold off;
hold on;
fplot('f',[-2 2 -5 5]);
% Draw the axis
plot([-2 2], [0 0], 'r');
plot([0 0], [-5 5], 'r');
pause;

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 6 Plot
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
fprintf(1,'\n\nPlotting different poses...\n');

hold off;
hold on;

f(-0.306161);
myplot(-4.69,1.71,-0.306161);
fprintf(1,'(see plot window)\n');
pause;

hold off;
hold on;

f(-0.086645);
myplot(-4.17,-2.76,-0.086645);
fprintf(1,'(see plot window)\n');
pause;

hold off;
hold on;

f(0.122182);
myplot(-4.69,1.72,0.122182);
fprintf(1,'(see plot window)\n');
pause;

hold off;
hold on;

f(0.398121);
myplot(-4.17,-2.76,0.398121);
fprintf(1,'(see plot window)\n');
pause;

hold off;
hold on;

f(0.523854);
myplot(4.86,-1.16,0.523854);
fprintf(1,'(see plot window)\n');
pause;

hold off;
hold on;

f(1.463312);
myplot(4.86,-1.16,1.463312);
fprintf(1,'(see plot window)\n');
pause;


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 7 Varying P1
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
fprintf(1,'\n\nTesting variations of P1...\n');

fprintf(1,'\n\n4 Poses, P1 = 4...\n');
P1 = 4;
fprintf(1,'(see plot window)\n');
hold off;
hold on;
fplot('f',[-5 5 -5 5]);
% Draw the axis
plot([-5 5], [0 0], 'r');
plot([0 0], [-5 5], 'r');
pause;

fprintf(1,'\n\n2 Poses, P1 = 10...\n');
P1 = 10;
fprintf(1,'(see plot window)\n');
hold off;
hold on;
fplot('f',[-5 5 -5 5]);
% Draw the axis
plot([-5 5], [0 0], 'r');
plot([0 0], [-5 5], 'r');
pause;

fprintf(1,'\n\n0 Poses, P1 = 50...\n');
P1 = 50;
fprintf(1,'(see plot window)\n');
hold off;
hold on;
fplot('f',[-5 5 -5 5]);
% Draw the axis
plot([-5 5], [0 0], 'r');
plot([0 0], [-5 5], 'r');
pause;

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 6 Clean up
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%clear;