function [matice]=oblouk(robot,r,s,f,smer);  
%r-polomer, s-souradnice stredu
flag=[0 0];
moznebody=[0 0;0 0];

%dolu = -10950;                           
%f-pocatecni a koncovy uhel, smer-orientace
soucstav=bbirctodeg(robot,bbgetirc(robot));
soucstav(3)=-fix(soucstav(3));

a = [r*cos(f(1)*2*pi/360)+s(1),r*sin(f(1)*2*pi/360)+s(2)];
b = [r*cos(f(2)*2*pi/360)+s(1),r*sin(f(2)*2*pi/360)+s(2)];

BA = mojeikt(robot,a(1),a(2),soucstav(3),0);
BB = mojeikt(robot,b(1),b(2),soucstav(3),0);


if isempty(BA) 		%kontrola je-li tento bod mozny v ikt
   disp('Nelze se dostat do prvniho bodu');
       matice=[];
   return 
end


if isempty(BB) 		%kontrola je-li tento bod mozny v ikt
   disp('Nelze se dostat do druheho bodu');
       matice=[];
   return 
end


if ( (BA(1,1)>=-85) & (BA(1,1)<=85) & (BA(1,2)>=-120) & (BA(1,2)<=120) )	%kontrola jestli se muze robot dostat do bodu A
   moznebody(1,1)=1;
end   
if  ( (BA(2,1)>=-85) & (BA(2,1)<=85) & (BA(2,2)>=-120) & (BA(2,2)<=120) )	
   moznebody(1,2)=1;      
end;   


if ( (BB(1,1)>=-85) & (BB(1,1)<=85) & (BB(1,2)>=-120) & (BB(1,2)<=120) )	%kontrola jestli se muze robot dostat do bodu B
   moznebody(2,1)=1;
end   
if  ( (BB(2,1)>=-85) & (BB(2,1)<=85) & (BB(2,2)>=-120) & (BB(2,2)<=120) )	
   moznebody(2,2)=1;      
end;   


if soucstav(2)>=0							%vyber konfiguraci ramen
   if moznebody(:,1)==[1;1]
      flag(1)=1;
      if moznebody(:,2)==[1;1]
         flag(2)=2;
      end
   elseif moznebody(:,2)==[1;1]
      flag(1)=2;
   else
      disp('Nelze se dostat do obou bodu se stejnou konfiguraci ramen');
          matice=[];
      return
   end
   
else
   if moznebody(:,2)==[1;1]
      flag(1)=2;
   	if moznebody(:,1)==[1;1]
      flag(2)=1;
      end
   elseif moznebody(:,1)==[1;1]
      flag(1)=1;
   else 
      disp('Nelze se dostat do obou bodu se stejnou konfiguraci ramen');    
          matice=[];
      return
   end
end


%********************************************************************************************

if r>100
   smer=smer/2;
end   

if r<100   
   smer=smer*2;
end

if r<50   
   smer=smer*2;
end

if r<10   
   smer=smer*1.5;
end

if r<5   
   smer=smer*4/3;
end



%algoritmus vypoctu oblouku
if (f(1)<f(2))&(smer<0)
   f(2)=f(2)-360;
end
if (f(1)>f(2))&(smer>0)
   f(2)=f(2)+360;
end

pom=0;
for k=f(1):smer:f(2)
 pom=pom+1;  
 Body=[r*cos(k*2*pi/360)+s(1),r*sin(k*2*pi/360)+s(2)];
 Uhly=mojeikt(robot,Body(1),Body(2),soucstav(3),0);
 if isempty(Uhly)
    disp('Cast oblouku lezi mimo pracovni prostor')
    matice=[];
    return;
 end  
  
matice(pom,:)=bbdegtoirc(robot,Uhly(flag(1),:)); 
end


matice(pom+1,:)=bbdegtoirc(robot,BB(flag(1),:)); 

bbmoveirc(robot,matice(1,:));
bbwaitforready(robot);
bbmoveircs(robot,matice,40,5);  
bbwaitforready(robot);