min_teta1 = -185	;	max_teta1 = 185		;
min_teta2 = -120+90	;	max_teta2 = 70+90		;
min_teta3 = -120-90	;	max_teta3 = 155-90		;
min_teta4 = -350	;	max_teta4 = 350;

global target
nt=12;
t0=[2059;0;1990];
dx1=100*[-2;0;-3];
dx2=150*[-1;0;0];
dx3=150*[0;0;1];

tetas0=zeros(1,4);
target=t0;

for i=1:nt+1

if (i<100) 
dx=dx1; 
elseif (i<200) 
dx=dx2; 
else dx=dx3; 
endif
if (i==1) 
dx=0; 
endif

target=target+dx;
[tetas fn info]=fsolve(@erro,tetas0);
if (info != 1)
 info
endif
tetas0=tetas;

[x y z]=cg3d(tetas(1:4));
XX(i,1:5)=x; YY(i,1:5)=y; ZZ(i,1:5)=z;
hold off
for ii=1:i##i##(max(1,i-10)):i
hh3=plot3(XX(ii,:),YY(ii,:),ZZ(ii,:),"o-");
set(hh3,"linewidth",2);
set(hh3,"markersize",15);
hold on
##hh2=plot3(XX(ii-1,:),YY(ii-1,:),ZZ(ii-1,:),"r-");
##set(hh2,"linewidth",1);
####set(hh2,"markersize",5);
##hold on;
##hh1=plot3(XX(ii-2,:),YY(ii-2,:),ZZ(ii-2,:),"r-");
##set(hh1,"linewidth",1);
####set(hh2,"markersize",5);
hold on;
axis([-4000 4000 -4000 4000 -4000 4000]);
endfor
hh3=plot3(XX(i,:),YY(i,:),ZZ(i,:),"o-");
set(hh3,"linewidth",2);
set(hh3,"markersize",15,"color","red");


pause


endfor