% fungsi untuk plot coneksi di waktu
% tertentu
function plot_con (yOut, conIn, time, bParam)
  lengthCorRobot = length(bParam.corRobot);
  robStateLen = size(bParam.model.origin.A,1);
  lengthNode = length(bParam.edgeL);
  tspan = bParam.tspan;

  xi = 1:robStateLen:lengthCorRobot-1;
  yi = 2:robStateLen:lengthCorRobot;
                                  % plot trayektori dari setiap robot
  str_tmp = "plot(";
  for i = 1:lengthNode-1
    str_tmp = strcat(str_tmp,sprintf("yOut(%i,:),yOut(%i,:),",xi(i),yi(i)));
  endfor
  str_tmp = strcat(str_tmp,sprintf("yOut(%i,:),yOut(%i,:));",xi(i+1),yi(i+1)));
  eval(str_tmp);
  hold on
                                  % membuat fungsi plot robot di waktu
                                  % tertentu
  str_tmp = "@(t) plot( [";
  for i = 1:robStateLen:lengthCorRobot
    str_tmp = strcat( str_tmp, sprintf("yOut(%i,t), ",i));
  endfor
  str_tmp = strcat( str_tmp, sprintf("], ["));
  for i = 2:robStateLen:lengthCorRobot
    str_tmp = strcat( str_tmp, sprintf("yOut(%i,t), ",i));
  endfor
  str_tmp = strcat( str_tmp, sprintf("], \"^\");"));
  plot_rb = eval(str_tmp);

  xrb = 1:robStateLen:lengthCorRobot;
  yrb = 2:robStateLen:lengthCorRobot;
  
  for tm = 1:length(time)
    plot_rb(time(tm));
    for i = 1:length(conIn)
      plot([yOut(xrb(conIn(i, 1)),time(tm)), yOut(xrb(conIn(i, 2)),time(tm))],
           [yOut(yrb(conIn(i,1)),time(tm)), yOut(yrb(conIn(i,2)),time(tm))], "r" )
    endfor
  endfor
  
  str_tmp = "legend(";
  for i = 1:numNodes(edgeL2adjL(bParam.edgeL))-1;
    str_tmp =strcat(str_tmp,sprintf("\"R%i \", ",i));
  endfor
  str_tmp =strcat(str_tmp,sprintf("\"R%i \" )",++i));
  eval(str_tmp)
endfunction