main

0001 
0002 clear, clf
0003 vi = [-30 -30];
0004 fi =[0 0];
0005 a = 0; b = 0; c1 = 1; c2 = 1; AN = [];VI =[];FI =[];
0006 an = 0;
0007 TP =[];
0008  for i = 1:20
0009      a = a - c1;
0010      b = b - c2;     
0011 vi = [vi(1)-fi(1) vi(2)-fi(2)]
0012 fi = [a-fi(1) b-fi(2)]; 
0013    if i > 5 
0014        c1 = 6 
0015    end;
0016    
0017     if i > 10 
0018         c1 = 0.5
0019         c2 = 20;
0020     end;
0021    
0022    
0023    AN = [AN ; findAngle(vi,fi)];
0024    VI = [VI; vi];
0025    FI = [FI; fi];
0026    TP =[ TP;tankPolicy(vi, fi, fi)];
0027 end
0028 
0029          
0030 for i = 1:20
0031           figure(1)
0032           plot(i, AN(i), '*'), hold on
0033          figure(2)
0034          plot(VI(i,1), VI(i,2), '*')
0035          TP(i,:)
0036          plot(30,30, 'X')
0037          pause
0038      end
0039      
0040      %   plot(FI(:,1), FI(:,2))
0041