function out=drawlnks(ctr,lengths,widths,angles,colors)
%
% ctr=[x0;y0] is the position of the center of the middle link
% lengths=[lenrite;lenleft;lenctr] specifies the three lengths
% widths =[widrite;widleft;widctr] specifies the three widths
% angles =[thetarite;thetaleft;alpha] specifies the three angles
%        where alpha is the angle of the central link w.r.t. a
%        fixed frame, and thetaleft and thetarite are the angles
%        made by the two outside links relative to a completely
%        straightened out position
% colors =[colrite,colleft,colctr] specifies the colors to be used 
%        to draw the respective links
%
%  rite=rot(angles(3)+angles(1))*antenna(lengths(1),widths(1));
rite=rot(angles(3)+angles(1))*makelink(lengths(1),widths(1));
%  left=rot(angles(3)+angles(2))*panel(lengths(2),widths(2));
left=rot(angles(3)+angles(2))*makelink(lengths(2),widths(2));
central=rot(angles(3))*makelink(lengths(3),widths(3));
a1=ones(1,size(rite,2));
a2=ones(1,size(left,2));
a3=ones(1,size(central,2));
shiftctr1=ctr*a1;
shiftctr2=ctr*a2;
shiftctr3=ctr*a3;
shiftrot1=rot(angles(3))*[(lengths(3)-widths(3))/2;0]*a1;
shiftrot2=rot(angles(3))*[(lengths(3)-widths(3))/2;0]*a2;
shiftrite=rot(angles(3)+angles(1))*[(lengths(1)-widths(1))/2;0]*a1;
shiftleft=rot(angles(3)+angles(2))*[(lengths(2)-widths(2))/2;0]*a2;
rite=rite+shiftctr1+shiftrot1+shiftrite;
left=left+shiftctr2-shiftrot2-shiftleft;
central=central+shiftctr3;
clf
diam=1.2*(lengths(3)/2+max(lengths(1:2)));
cm=[0;0];
axis([cm(1)-diam,cm(1)+diam,cm(2)-diam,cm(2)+diam]);
hold on;
circ=[0:12]/6*pi;
circ=widths(3)/4*[cos(circ);sin(circ)];
fill(central(1,:),central(2,:),colors(3,:))
fill(circ(1,:),circ(2,:),'g')
fill(rite(1,:),rite(2,:),colors(1,:))
fill(left(1,:),left(2,:),colors(2,:))
axis('off')