Problem 2103. Simple Robotics 1: On track?

Created by Marcel

Solve Later

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The error levels for the distance are 1 cm (ridiculous accuracy) and .5 degrees for the end effector angle.</w:t></w:r></w:p><w:p><w:pPr><w:pStyle w:val=\"text\"/></w:pPr><w:r><w:t>Write a function which returns true if the end-effector is \"on track\" and false if the position of the origin of the coordinate frame which is considered to be attached to the centre of the end effector, falls outside the area indicated by the dash-dotted line. Also return false if the end effector orientation is too far off from the direction of the straight line.</w:t></w:r></w:p></w:body></w:document>"},{"partUri":"/matlab/output.xml","contentType":"text/xml","content":"<?xml version=\"1.0\" encoding=\"UTF-8\" standalone=\"no\" ?><embeddedOutputs><metaData><evaluationState>manual</evaluationState><layoutState>code</layoutState><outputStatus>ready</outputStatus></metaData><outputArray type=\"array\"/><regionArray 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0xYKDhVAJZ2JwFUdz6VFYLdXAM2opGpZw0UAXPlY4GT3b37frVmNWPzvvBbaRG2CIzjkA9T7/pirQxinpYQ6iiipGJUFzcw2lu887rHCgyzk4wPUmkuZ4reIPNKkaEhQWPGSQByarRQ3Ut1O1yY/s5+WKFRuwAfvMfU8cdh3zVIVyNYv7Ue0u/MuI4FHmCBhs3N2Z+/wBF6c5PpWqKKKQBRRUMkixoWchVUZJPQdzkntQMkLfrWO0l1qF75UO+3tIXxJIRhpWHVVB/h7Fu/QetW4phqCK6MGtHVWR0YhiQc+3B4+uferv8qexO44UUUUigooooA4TTv+Stav8A9eq/yirtyRWLb6BFb+JrrWxM7SXEflmPHA+6M/8Ajv61slaubTsRFWJBRQKKgsDSUtGKAEooxS0AFFFFACcUtNH9Ky/EN+dM8O3t0DhkiIQ+jHgfqRTiruwm7K54z4jvv7R8RX90CSrSsEJ/uj5R+gr1/wAIWH9neF7CErtdk8xx6lvm/rXjOk2R1HVrSyAyJpVU+wyM/pmvoBAqKAAAAMAAdK7MU7RUDnoq8nIefaqOp6ha6XYy3V2yrCg5B53egHqanubmGztZbiZwkca72Y9gK8/ghufHutfaZ1ki0O2fCR/89D/ie/p0965oQvq9jacrbbjfD+izeJb2PU9QV00qAkWds5yCueB/ujp74HYV6MABwOmKjjjjgiWJFCKowoA6CpeO/NKc+Z+QRjyj6KKSoLCiikoAKKKKACiiigAooooAKKKKACiiigAooooAKKKKACiiigAooooAKKKKACiiloAKKKKACloooATNLmkrN1DU1tJYrdImnupj8kCkZIHVif4VHrRZiuizNMsbBQyecwYIhbG4jkgcHj1PaqNhprR3H26+cS3rjGQPkiXj5Ez29+p/LGhHEU3ku77nLYY528DgcdP8asU07ALRRRSGJn9KrzTCKKSXa7hVLERgljjsAKgvtQg0+JGlLF5G2RxINzux6BR9OvakisyNQku3lkd2ULGhPyxrwSAB3JHJ607CuRQW5v1t7q/tFjuISzJGX3bM9DxgbgMZ9DnBrVpaMUmAlJS1Uu7mKzt3nmYRxIMszHp/n2+lCQMtVkXFn/arxNKzfYQNxtyhUyN2357dDjv3p9lJNfr59zbPEgkDQIzEPtxjLjPHfj0960yMrT2FuIqhFAAAA4AA6U+iikUFFFGaACikzRQBhW+vxXHia60TyXWS3j8wyZ4P3Tj/AMe/StomuI07/krWrf8AXqv8oq7cqKuaSsRB3HiigUVBYUUUUAFFFFABRRS0ANH3vwrhPidfeVpNrYqfmnl3H/dX/wCuR+Vd30avH/iHf/a/EzQKcpaxrGAP7x+Y/wAx+Vb4aPNUMqztEk+G9ibjxG90R8trEWBx/E3A/wDZvyr1aWVI0Z5WCKo3FicACuP+G1j9n8Py3p4NxLkEjqq8D9d1U9X1G58Yav8A2FpMmywjObm4A4b/AOt/M+wq6y9pUfZEwfJE7azurTUbRZrZ0nhcYDA5z7H/AOvU1vbw2lusMESRxqMKiDAH4VX0zTbbSLGO0tUCRJ+Z9z71d43VzPey2Nl5j6KKSkMKKKKACkoooAKKKKACiiigAooooAKKKKACiiigAooooAKKKKACiiigAopcUYoASlxRRQAUUUtACUtFFABRRWVqV3dI8dtYwFriXJEjg+XEvQsx79R8vc/nRqJswfEEOoJ4giewup1ZrZmNvHLjeVYZwDld2GB5HQfjWpoMGWlv1uo7tbjBMjRbZQw42sc44/u7Rg1di05USz86eSWa1csJmPzMSCDn/vo8ew9Kq3lnPZXT6lpybmbm4thwJh0yPRx+vQ9jWnMmrEcrTublLVKyvIdQtUuLd9yN68YI6gjsR6e1Xazs0WmFVJblEdId8fnSA7Iy2C2Offj37ZqO+uZre3JtrZ7idjsRAcAH1YnoPf8AxpYbREma6aJftToqvICTwOdoz0H5Uw1G2EVyluPtzxyXBbcdi4WPIxtXjnHqfU/Sr5pRRSYWCiiq8rmNGIBkOM7R1OPyH6igYSyCOJ2wWCgnCjJOB0A7moPJW52vOiSIHWSJWjw0bY6nryM/UZ/GqljZ3M92NQ1AlZgCIrdWykKnrkjq3HJ6dh77GKewtxaKKKQwpKKKACiiigAoNFFAHC6b/wAlY1b/AK9F/wDQYq7cgVz1poMtv4yvdaMyGK4hEaxgfMvCc/8AjproeN1XN3tYiCaH0uKM0VBYYoxRRmgBMUuKKKACiimMwRSzEBQMkk4xQBHJKkcTOxAVRuJPYDmvAb+6e/1K4umyXnlZsfUkgf59K9K8V+NtFTRb61tNShlupE8oCM56nBwRx0zXCeFbEan4lsIMBo/MEjEHgqvzH+WPxruwy5YubOWq7ySOsuby5uLe08IaL/rEiVLucHhP7wyPfOfyrs9D0a10PTVtbZeeryEfM7ep/wAKsW+n2lpcTzwW8ccsxDSsowW9M/rVzPtXNOpzaLY2hC24+iiisjQSiiigApKKKACiiigAooooAKKKKACiiigAooooAKKKKACiiigAooooAKKKKAFopaKADFFFFABRS0UAMox6UAdTntWOt7FrMV7babdvHJby+RNKIj8jA/Mq7uCQO/I5FJMTLQuluJpILV43lhdRMDn5Qe2fXGcenFWYI1iQKu4DJIyxYnJJPJ59f8iorKzh0+1W3tkCIvXuST1JPcn196udKoEh2KMVQn1C1tr6zsZptk92X8hNpO/Yu5ueQOPXrV/NIZhXdnPZXT6jpqFmbm4th0mA4yPRx+vQ9jUy6zaGa0hXzGkuVDhSuCqnPzNu6dMetS3Vw8qT29jPCbxApIcnCAngkD2BOO/FJLpsVzp62t2zTHaA0pwHLDowI6HPPFX01J66D7CxFkshMsk00r7pZJDy3px0A9h0q9WJY3c1tdLp2ouXlP8Ax7XBGBOB2Pow7jv1HetupkhoWkIpc1Wnm8vIRTJIBkRqRkjIBPPpnvSsMr3uoQ2CxmUszzOFjjQZd2PYD+fapUhO8vNskkVmMZ2DKKRjA79uT39Kgi06KLUJb1meW4b5VaTH7tePlX0H6mtE0xai0UUUhhSUUUAFFFFABRRRQAUUUCgDJi1u0m12fSELm6gTzHBX5QMKevf7wrTNcRpv/JWNX/69F/lFXcZz+VVONrEQdzn/ABZ4hHhrQXvxbm4nZ1ht4gceZIxwATXHav4y8beF7dF1nTtJkuL0Klg1n5hVZtwBSQMcnIJIwcZXvXTeO9AvfEGgpFpzRrf2s8d1bCQ/IzocgE+4z+P51yWuWnjzxJNpuoyeHLWzGkXEdwli16kj3cm4AkMPlUAZ6n86zje5o7Hoc+tWNldWlje3EaXl1gJEASWOPQZwuQcE8Z4zmtQKNox6VyGsTaxe2+iS/wDCPXbTxTpc3EUM8DCLAYFNzOu48jkDGO9dZGS6jIZCRkg44+uMj8jTRJPRRS4pjIwa8y+KetXCPZ6JbStGlyDJOQeWXOAvHbg/XFehX95Bp1pJdXMvlxRjJJP6fjXiPinVpvEOtpf4WOOEbUUjouc8+p/xrooU3KV+hjVmkrGV9itkTb5QJxjJ6n8a6n4eXwtvGqWjxxkTwMsbY5UgE8fgD+VcoNRthklzuzjGOv0rs/hrod1ea6dfnieK2hQrAWX77EY49gCenrXXXlFQsjGmm3c9gooorzDsCkoooAKSg0UAFFFFABRRRQAUUUUAFFFFABRRRQAUUUUAFFFFABRRRQAUUUUAFFFFAD8UUUUARMfl64J9q881DW/Et3r2s2+lQ32/T2jSCG3Fr5UhKbv3xlYPhs4+TAABwSa9DOegNcjqug3Op3pmu9I0a+aLKxG5t1dpFJJHJB24z0Gc89M1LdmaQjzaXMy+1bXXbxZdrqclqmkwhoLZIYmAc24ch2KkkBuRjHuSMCp4rvWH1PRtKm1y4RtQtpLx7lYIQxZQn7mIFCAvzFjuDNhever76bq6JcKbXTJVlG2cGLaLsEbcv1xtGBg7sgY4pl5pWqahCtpe2Gl3lvauAkNxBlJflwGAIITbnHfPPSkpPsX7Fd0YOmeItd13VdM0ldSkhiY3kc9/BBHm6ETKEZMqygkYyQCvzHA6YrwalfaJaXdpponDXXiOS1MkQjMqqEU4XzCE3HAHzcc9M4rrI9N1i0a3MFrpbGyQxwFYvLyrYztxnywMDgZzjtxhkmkaq9rcWz2OlXEDvumjeEBbpjg73GCARx65x24pc2oexVt0Zrar4m0u3hvdR+0xWNvqCxytdJb+bLbyALufyiVUo56rjI6iqQ8R+ILy40tUa8EOrSXNzCLJLfzVhTaI0UzYTkHec5bnjFbcGg31lYzWNvpuii0Y4lt47YRx3WRgllAwMcDHOcdqfc6PqV3aR2N1YaRd2lrgJBNB+7k4wCFIITaOwznB6U+bUPY+aM2KXVpfEHhD+2oHjvElvlJcpvkQRkKxCEqGK4yAcZziuzuLi5F1BBb2+9WOZZXOFRRjI9ye1cnbWN8jfYdPtNMjGnBljkt7cRqrP97YQD5bYPIAOec4zXW6fa/YrKG34bYmCQDyepPJPUnPXvVpmU4cvW5Jb20Fsr+TEE3uXcjqzE5JJPX8at0ZozRqQUNRtra7sniudvlj5txbbsIPDA9iOxrAvNSurCCKK6nPmwypKk6nC3UIPzA9twUkkd8ZHt1EkayoUdVdWGCCMg/XNc9qPhjSLyJ7eK3KFmXfHbS+XsBP3ioOPXtk1cGupMvI0NR1I2zJBbxedfTZ8qEHA/3mPZR696sWsEscUTXLpLdBdrShAucnOB7dPyp9tb/ZreOIyySFBgPIRuI9yP8APFWqm5Sv1FooopDCkoooAKKKSgAzS0lFAC0UUUAFLSUpoA4XTf8AkrWrf9eq/wAoq7cfeNctZaPdQePdQ1d1T7JNbhEIbknCdv8AgJrqhV1HexENLjsUtJS1BYUlLRQAwnpx1qtd3MNnbvcXDrHEgyzk8DH+fxp000dvA08rqkaDc7E4x7815D4t8Vy67dGCAtHYRn5VH/LQj+I/0HataVF1H5GdSagiPxV4om8QXu1N0dlEf3UZP3uvzH3/AJVqeDPCJv3TUtQQi0U5ijI/1h7E+386h8GeETq8q398pFih+VD/AMtT/hXqyIsSBVAVVAAAHA7cCumtWUFyQMacHL3pFF9A0eSb7Q+k2TzDnzGtkLfmR7nvWgkaxoFUAKAAAB0x04qSkz9a4rt7nSkkOpKKKQwoopKACiiigAooooAKKKKACiiigAooooAKKKKACiiigAooooAKKKKACiiigAooooAfRRRQA0CmuyohZmChRkknoPWopZ4reF5pXWOOMZdmOAB171XhkXUYUm2uLZ0ZTHLEBvyQA2D2xkge/TjFAiteWl1ql61vOGh05D8wDDdcHg4yOifqcfnsAYXA4GKXilzQ2CQtFFFAxvRay5JJdTWM6feRpbiVhNIgy3ynlVzxyeCfansZ7m7mtng2WQTazufmkYjomOigHr3Jx71biiighSKFFjjUYVQOFFPYROBilNGaDSGJSZozWX/aYn1JrG2V5Co/fzA/LFxwPdvbtnnsKEhXH3kk8kUkFhLF9qXaD5hJ8tWJ+bA6nGeCecUafp0VhCVQtJI53yzSctI3ck/h+FWoovLiRNzPtGMsck44yfXPepjTuA6koopDCkoooAKKKSgAooooAKKKKAFFFAooAKWkpaAMK41vZqrafawrdzxRh5Y1lCuvTs2B3Xv36VastUtr9Sqkxzj78EuFkTtyuf16Vy+mj/i7Wr55zaD+UVdbd2FrfrturaOTbypYcr9D2/OtJJKxnFtlzP40orFGn3Nl82n3UjqvP2e4cujewY5Zf1HtVqwv2vPPSWB4Z4XCyRlgcZGQQe45/OosVc0ageQRoWZlRVGSScAAe/tT3ZUUsSAoGSSeleUeNPGB1F307T3Is1OJJAf9afTP93+dXSpObsiZzUUReM/Fx1mY2VkxWwQ8sM/vT6/7tQeEPCcuu3AuLgMlhGfmb/nof7o/qai8KeFpvEF1vl3R2MZAeQdW/wBkf54r2O2toLO1S3t41jhjG1FA4Arqq1FSjyQ3MYQc3zSFhhigiSGFFREG1VAwBxjFTkUAigmuFtvVnVsLSUUUAFFFJQAUUUUAFFFFABRRRQAUUUUAFFFFABRRRQAUUUUAFFFFABRRRQAUUUUAFFFFABRRRQAvpUMsqQJud1QAgZJxjpj88/rUV9dxWVrJcTEqijJIBzzjAA7np+dVrA3dyslxeqI43IMVsQCUwcgsf7xOOOgx+NOwr6jriwTUXie6WQJDIx8gsCjkH5WIHXpkAnjPqK0ulLmikAoFGKM1XmnitoXmndY44xl2JGAOv4UDJGZY13EgKoyST0rJ/d+IbIE/aI7PzM4xt+0KBx77T+Gceh5nVLi5vY7lbkJZBAUjUcyEjq2R056f4Vo09hbigBFAA4HQCnGiikMjI9v1o5/wqOaURxM7dFGT+ArxqXxT4x1Pw7qPiqPVYbHSkDGCzaFQrgMFC+Z94sec4I5IAPUBLVg9rnsO8yuUhKkKxSUknK/LkYx35Hf9abaWcNlbrb28QjjU/dz1z3JPU+9M0u4mu9KtrmeIwyyxK7xk/cYqCR+H9Kuk/wAqpslaq4+koopFBSUUUAFFFIaACiiigAooooAKKKKAFFFAooAKWkFLQBwum/8AJWtX/wCvUfyiruM9q5Cw066j+JGpXz27ray2yqkh6McR8fofyrrx6VdR7GcOoH3rOudKtbybz5VkSYLtEkMrRtgHuVIJxmtHjB/WvNvG3jHHmaTpkpyPlnnB6dtq/wBadOEpuyHOSitSh4s8WXBSXRrS7M0CHa9yPvOP7pI4PfJHWsPw34dufEN95KZjt0OZpcfdB7D3NVtE0S613UFtbYcdZJCPlRfU/wCFe16Tpdvo2nx2dqmI1GST1du7GuupNUY8sdznhB1Hd7E1lZQadaRWlumyGIBQB296uUtHtXA227s6kklZC0lLSUDCiiigBKKKKACiiigAooooAKKKKACiiigAooooAKKKKACiiigAooooAKKKKACiiigAooooAKKKKAK0IlLLNLuRmQAw7gVQgkk5457GrlGKKYgpKWqd3dxWVq9zNnYgycAknsABzknI+tICyeMcfrXNHUjKzDXtNa1gEgaLchkTjuWGQOexArTjtVvZba+uUmRlXclvIwxGx7kDq2OB6Vp7fy9Ka0FZshililiWWJ1dGGQ4OQe+c9OanFYq/wDEnu1i62V1LhB3hkbnH+6xGR6E+/GyDmhjTDOFpGcIpZsBQMkk9KdWTe2R1fy1llkjtAzCWAoVMuDgAn+6cE4xyCO3UQMS5uE1DSpXt3WS0eGQFhkE44G0+nB5+mK8v8M+G9E1P4W2Os3pkgvrGCYRX0Vy8bW+JHORhgMgnuO9et3MP+gyQwqBlCqqABjjAArznwj8KdFXw/YS+IdBQ6tGSZd07EHDnbkK2w8Y9c96i12x9Dp/h7qN7qvgXSr3UWL3LxfM7DlwGIDH6gD866g8rVeGJLeFIoUWONAFRUGAoGAAAOg+nHFWOrA1TElYfRRSUDCiiigApKWigBKKXFJQAUUUUAFFLiigAooooAUUUUUAVhPCZjCJYzMoyUDfMPfGen+NT4Az71w+nf8AJWtWP/Tqv8oqTxn4wGmI2nWDA3rDDyA/6kf/ABX8q1VJtqKM/aJK7IfG/jAWaPpWnP8A6QciaUf8swf4R7nv6fXpweh6Jda/qC21sDjrJIRwi+p/wpmk6Td67qS2tsCzscvI3RR3Lfn+te06JolroWnpbWw56vIR80jep/w9K6pSjQjyrcwSdV3ewzQ9DtdAsVtrZSSxy8h+87epxWzRSEjbXC227s6kraIdRRRSGJRRRQAUGiigBKKKKACiiigAooooAKKKKACiiigAooooAKKKKACiiigAooooAKKKKACiiigAooooAKKKKAJKQ0E1VuZnihdkiMsqqSkakAtjsM/55oQhtxcwW3l+fKEMjhEHdyTwB3/Lp+Gaitbe5S4nmubjzN5xHGvCIoPH1J7mktbd5EguL6GE3qBhmMcJkg4BPXtz3I9DWhnOcU9gQ+g0UGkMzdXtWvNKuIYjibG6I+jqQyn/AL6Aot9Qgl0pNQZxFCYvMYufuDHIP0/nV/Fc7YIP7SvLGeP/AEWVUuooJUHykklvycbsdi1UtUS3qXbGebU1eWa38u0YqYQ+RI2DkOR26DAxnjn0rV6UmMf0oNS2NDqKKKBhRSUUAFFFFABRRRQAUUZozQAUUUUAFFFFABRRQKACloooAQ4rnfFPiyx8L2iy3IaS4kOIoEPzP6n2HPWuixXiPxAZ5fiA6z/cjgQRA9xjPTtyT+VaUo88rEVJWRA/jPUI9WvNchtFS5uovKKA/wCqGFG7nqfkH51naXBc+IL1YbYNLPK2WLH7vqzHtTB98/Suo+FW5PFupRIP3Bttx9m3Lj+bflXoVP3Sujlj77sei+HtBtvD+nrbwDdK3MsmOWb/AA9PatyikrzJNt3Z2JWVkOooopDCkoooAKKKKACiijNABSUUUAGKKWigBKKWigBKXFFFABRRilxQAlFFFABRiiigAxRiiigBMUUtFACUUtBoASjFLRQAYoxRRQAYoxRmjNAGDceKLW3QbbXUJpW+5GLKUFunTKjp+dMi1GxivZbpbfVJppOCzWUo2LxhV3KABwT6+9adhbS21uEnuHnmYlnkbpk9gOw9B2xV3HpVXSISbMr/AISGL/nw1L/wEf8Awo/4SCH/AJ8NS/8AAR/8K16KV0VZmQfEEX/PhqX/AICP/hUZ8QwDANjqIycAG0fnvgce36Vdvr2DT4fNmLFmO1I1GXkbsqjuf5CnLEZG3y4cZDIrKP3XGCM/n3709BanOW+oPcXovr+x1AFDmC3S1crF23Hjl8fgO3rUkmrq/iK0lSwv8LaTqR9nZSfmix1x05/Ouoz834dKP4v6U+YXKzL/ALd/6huo/wDfj/69H9u/9Q3Uf+/H/wBetTFJipuh6mZ/bv8A1DdR/wC/H/16P7d/6huo/wDfj/69aeKMUXQamX/bv/UO1H/vx/8AXpv9uNu40rUWPceSB+pP9a1sUYo0DUyTrc3/AEBdS/74T/4qk/tub/oDal/37T/4qtf8KPwouOzMj+25v+gNqX/ftP8A4ql/tub/AKA2pf8AftP/AIqtb8KPwougsZH9szf9AbUf+/a//FULrFwWAXRtRY+hVBn8S4x+JrYz/nNGf85o0FYy/wC077/oBX//AH8g/wDjlJ/ad9/0A7//AL+Qf/HK1s+9JketAWMr+077/oBX/wD39g/+OUf2nff9AK//AO/sH/xytXI9aMj1oHYy/wC077/oBX//AH9g/wDjlN/tK+/6AV76jMkOP/Rh/lWtketLn3oFYyf7U1L/AKAkv/f+P/Gj+1NS/wCgJL/3/j/xrV49aOPWnfyC3mZX9p6j/wBASb/v/H/jXJeMvDl74o8q5g0yS1v4RtSQyxkOOyn5vfr2ya9BAp38R9aanZ3QON0eF/8ACEeMz+6/s2Nf+mnnx/8AxVdz4P0G68LWUinSZbi7mO6WbzYx06KPm6D+dS6dNIfihqsRdzGtsCEz8vSLt2rtCa1qVZbMzhBdDN+36qf+YP8A+TK0fb9W/wCgP/5MrWpn3oz71jfyNLGV9v1X/oDj/wACVo+36t/0B/8AyZWtXPvRn3ov5DsZX2/Vv+gP/wCTK0fbtW/6A/8A5MpWpketGR60X8gsZH2zWv8AoEQ4/wCvz/7Gj7brX/QHh/8AAwf/ABNa+R60ZHrRfyCxk/bda/6A8P8A4Fj/AOJpPtmtf9AiH/wLH/xNbGfejPvRfyFYyPtet/8AQIh/8Cx/8TSfatb/AOgRD/4Fj/4mtjPvRu96L+QW8zHE+tn/AJh1kB0wb58/pGad5+t/9A6w/wDA1v8A41WtketJketK4W8zK8/W/wDoHWH/AIGt/wDGqPP1v/oHWH/ga3/xqtXI9aMj1ouFjK8/W/8AoHWH/ga//wAao8/W/wDoHWH/AIGv/wDGq1cj1oyPWi47GQbjX/8An105R6ee5/XaM/lR53iH/n307/v6/wD8TWxijFFxWZkeZ4h/599N/wC/r/8AxNJv8Q/8++m/9/X/APia1sn1oyfWi4WMnf4h/wCffTf+/r//ABNG/wAQ/wDPvpv/AH+f/wCJrWyfWjJ9aLhYyd2v9SunL7Zc/rgfypc696af+T1rYFGBRcLGT/xPv+of/wCP0uNe/wCof/4/Wpkf3R+dGR/k0XHYysa9/wBQ/wD8foxr/wD1D/8Ax+tXI/yaM07isZG3xAcnzdPT2KO2fxyP5Uu3xD/z8ab/AN+pP/iq2MUlK4cpj7fEP/PfTf8Av1J/8VS7PEP/AD8ab/36f/4qtiii4cpj7PEP/Pxpv/fp/wD4qjZ4h/576b/36f8A+KrX/wA9KWi4co+iiikUJVWWby1IXDylWZI8gFiPT/PGar6jqP2NURInmuZjiKEH7xA5yewHc+lOs4p0hBu3WW4ySWVAAuf4V9hxjPXFOwr6iJp0P9oNfPvaYoFQSHIiHGQvYZ7mtGkpaVwCkNLSUDCg0UUAJRRRQAUUUUAFFFFABS5pKKAFopKKAFzRmkooAXNGaSigBaKSloAKKKKAAUtJRQBw+nf8lY1b/r1X+UVdv/hXD6d/yVjVv+vZf5RV2/8AhWlTdGdPqOooorM0CiikoAXNJRRQAUUUUAFGaKKAFzRmkooAKKKKACiiigAooooAKKKKACiiigAooooAKKKKACiiigAooooAKKKKACiiigAooooA/9k="}]}

As a small extension to problem: <a href = "http://www.mathworks.com/matlabcentral/cody/problems/2100-distance-to-a-straight-line-2d-given-any-2-distinct-points-on-this-straight-line">http://www.mathworks.com/matlabcentral/cody/problems/2100-distance-to-a-straight-line-2d-given-any-2-distinct-points-on-this-straight-line</a>,
imagine that Pe represents the attitude of a robotic end effector with 3 degrees of freedom (x,y and tht).<img src = "http://3.bp.blogspot.com/-Quk1HnM9BF4/UtU4GvT5NhI/AAAAAAAAAC4/wSltlKZRlok/s1600/ontrack.jpg">The end-effector (kind of orange) has to stay parallel to the straight line within a distance indicated by "errorlevel". The error levels for the distance are 1 cm (ridiculous accuracy) and .5 degrees for the end effector angle.Write a function which returns true if the end-effector is "on track" and false if the position of the origin of the coordinate frame which is considered to be attached to the centre of the end effector, falls outside the area indicated by the dash-dotted line. Also return false if the end effector orientation is too far off from the direction of the straight line.

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Problem 2103. Simple Robotics 1: On track?

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