% creating the pose graphs

%constants
L1 = 3;
L2 = 3*sqrt(2);
L3 = L1;
gamma = pi/4;
theta = -0.72084920;
x1 = 5;
x2 = 0;
y2 = 6;

% triangle vertices
x = -1.3784;
y = 4.8063;
u1 = x + L3*cos(theta);
v1 = y + L3*sin(theta);
u2 = x + L2*cos(theta + gamma);
v2 = y + L2*sin(gamma + theta);

%graph part
plot([x u1 u2 x],[y v1 v2 y],'r'); hold on % triangle 
plot([0 x1 x2], [0 0 y2], 'bo'); hold on   % vertices
plot([0 x 0], [0 y 0], 'k'); hold on       % strut
plot([x1 u1 x1], [0 v1 0], 'k'); hold on   % strut
plot([x2 u2 x2], [y2 v2 y2], 'k'); hold on % strut

