main.m

clear; clc;
x1 = 100;
y1 = 0;
theta = 0;
matrix1 = transform(x1,y1,deg2rad(theta));

x2 = 0;
y2 = 200;
theta = 0;
matrix2 = transform(x2, y2,deg2rad(theta));

x3 = 0;
y3 = 0;
theta = 360-30;

%theta=0;
matrix3 = transform(x3,y3,deg2rad(theta));

x4 = 200;
y4 = 500;
theta = 60;
%theta=0;
matrix4 = transform(x4,y4,deg2rad(theta));


endpos = matrix1*matrix2*matrix3*matrix4;
endpos2 = matrix4*matrix3*matrix2*matrix1;


xstart = 0;
ystart = 0;
theta = 0;
start = transform(xstart,ystart,deg2rad(theta));


pos1 = start*matrix1;
pos2 = pos1*matrix2;
pos3 = pos2*matrix3;
pos4 = pos3*matrix4;

figure
hold on
xlim( [-50 800] );
ylim( [-50 800] );
plot([xstart,  pos1(1,3)],[ystart, pos1(2,3)])
plot([ pos1(1,3),  pos2(1,3)],[ pos1(2,3),  pos2(2,3) ])
plot([ pos2(1,3),  pos3(1,3)],[ pos2(2,3),  pos3(2,3) ])
plot([ pos3(1,3),  pos4(1,3)],[ pos3(2,3),  pos4(2,3) ])

function [ matrix ] = transform( x, y, theta )
%UNTITLED2 Summary of this function goes here
% Detailed explanation goes here
matrix = [cos(theta) -sin(theta) x; sin(theta) cos(theta) y; 0 0 1];
end