clc

clear all
xc=4.0; xo=4.50; xT=5.00;
yc=3.00; yo=4.00; yT=5.00;
ct=0.4472;
alpObs=1.0; %height of repellent
muObs=4.0; %width of repellent
alpGoal=1.0; %depth of aatractant
muGoal=4.0; %width of attractant
NPTS=6;
stepDeg=360/NPTS;
JobstT=exp(-4.0*((xc-xo(1))^2+(yc-yo(1))^2))
JgoalT=-exp(-4.0*((xc-xT)^2+(yc-yT)^2))
JT=JobstT+JgoalT
DTG=sqrt((xc-xT)^2+(yc-yT)^2)
theta(1)=0
for ib=1:NPTS
x(ib)=xc+ct*cos(pi*theta(ib)/180)
y(ib)=yc+ct*sin(pi*theta(ib)/180)
Jobst(ib)=exp(-4.0*((x(ib)-xo(1))^2+(y(ib)-yo(1))^2))
Jgoal(ib)=-exp(-4.0*((x(ib)-xT)^2+(y(ib)-yT)^2))
J(ib)=Jobst(ib)+Jgoal(ib)
errJ(ib)=J(ib)-JT
DTGb(ib)=sqrt((x(ib)-xT)^2+(y(ib)-yT)^2)
errD(ib)=DTGb(ib)-DTG
theta(ib+1)=theta(ib)+stepDeg
end
f=figure('Position',[100 100 800 300 ]);
dat={theta(1,1), x(1,1), y(1,1), Jobst(1,1), Jgoal(1,1), J(1,1), errJ(1,1), errD
(1,1);theta(1,2), x(1,2), y(1,2), Jobst(1,2), Jgoal(1,2), J(1,2), errJ(1,2), err
D(1,2);theta(1,3), x(1,3), y(1,3), Jobst(1,3), Jgoal(1,3), J(1,3), errJ(1,3), er
rD(1,3);theta(1,4), x(1,4), y(1,4), Jobst(1,4), Jgoal(1,4), J(1,4), errJ(1,4), e
rrD(1,4);theta(1,5), x(1,5), y(1,5), Jobst(1,5), Jgoal(1,5), J(1,5), errJ(1,5),
errD(1,5);theta(1,6), x(1,6), y(1,6), Jobst(1,6), Jgoal(1,6), J(1,6), errJ(1,6),
errD(1,6)};
columnname={'theta','x','y','Jobst','Jgoal','J','errJ','errD'};

rnames={1,2,3,4,5,6};
t=uitable('Parent', f, 'Data',dat,'ColumnName',columnname,'RowName',rnames,'Posi
tion',[100 100 650 150]);