0001 clear; 0002 0003 % initial conditions for required parameters 0004 0005 L1 = 2; 0006 L2 = sqrt(2); 0007 L3 = L2; 0008 0009 p1 = sqrt(5); 0010 p2 = p1; 0011 p3 = p2; 0012 0013 x1 = 4; 0014 x2 = 0; 0015 y2 = 4; 0016 0017 gamma = pi/2; 0018 0019 theta = pi/4; 0020 0021 % test function to solve in terms of theta 0022 0023 [val u1 v1] = f2DStewart(theta, gamma, L2, L3, p1, p2, p3, x1, x2, y2);