%% Basic Planning app.

clear all; close all;
figure('MenuBar','none')
%init
axis([0 10 0 10])
c = uimenu('Label','Commands');
uimenu(c,'Label','Save','Callback','save');
pp = uimenu('Label','Path Planning');
tp = uimenu(pp, 'Label','Type of Path');
uimenu(tp,'Label','StupidPath','Callback','stupid_path(startloc,endloc)');
uimenu(tp,'Label','SmartPath','Enable','off');

hold on
xy = [];
startloc = [0,0];
endloc = [0,0];
n = 0;

%define obstacle
disp('Left-click to define obstacle (1 for now!)');
disp('Right-click to define last point');
% Loop, picking up the points.
button = 1;
while button == 1
    [xi,yi,button] = ginput(1);
    plot(xi,yi,'r+')
    n = n+1;
    xy(:,n) = [xi;yi];
end
%%%%%%Credit for click aquisition: Matlab Help Files%%%%%%%

%xy(:,n+1) = [xy(1,1),xy(2,1)];
%line(xy(1,:),xy(2,:))          <--not needed, I found the fill() command

fill(xy(1,:),xy(2,:),'b');

hold off

%pick start and end
hold on
disp('Choose start location');
[startloc(1),startloc(2),button] = ginput(1);
plot(startloc(1),startloc(2),'go')
hold off
hold on
disp('Choose end location');
[endloc(1),endloc(2),button] = ginput(1);
plot(endloc(1),endloc(2),'rx')
hold off;