Hi -
I understand that you're working through the 'Modeling Inverse Kinematics in a Robot Arm' example and are trying to understand specific lines of code.
The first line you mention is evaluating the FIS 'anfis1' to predict what angles 'theta1' can produce a set of desired end effector locations (x,y). Of course the predicted values of 'theta2' (computed in the next line) are also required to fully define the arm state. For more information about the evalfis function, please visit the documentation page:
I don't see the second line you mention ("THETA1 - array")...not sure if you were asking for more clarification about 'theta1', if so, I hope what I wrote above helps.
