%====================================================================================
function hwk7
%====================================================================================

global ROBOT_V ODOM_DT;
ROBOT_V = 5;
ODOM_DT = 0.1;

% Construct nice figure
close all, figure, axis([0 200 0 150]), axis equal, axis manual, hold on;

numObstacles = 0;
% Get the obstacle positions
% This loop will terminate when the user center/right clicks the mouse
while 1    
    [x, y, button]=ginput(1);
    if button~=1
        break;
    end
    numObstacles=numObstacles+1;
    oX(numObstacles)=x;
    oY(numObstacles)=y;
    h2 = plot(oX, oY, 'ro');
    set(h2,'linewidth',2.5);      
    drawnow;
end

% Get robot position
[rX, rY, button]=ginput(1);

% Get the goal position
[goal(1), goal(2), button]=ginput(1);

% Add your code here