% Plot a bounding box. The input parameters here are the output 
% parameters for Boundingbox.m


function DrawBoundingBox(MU,R,B,T)
   X(:,1) = MU+B(1)*R(:,1) + B(2)*R(:,2);
   X(:,2) = MU+B(1)*R(:,1) + T(2)*R(:,2);
   X(:,3) = MU+T(1)*R(:,1) + T(2)*R(:,2);
   X(:,4)  = MU+T(1)*R(:,1) + B(2)*R(:,2);
   X(:,5) = X(:,1);
   plot(X(1,:), X(2,:), 'b')
end
