% Plot target shape and initial pose for inclusion in write-up.
% Note that because of the condition s^y_2 = 0, the letters are rotated.
% Rotate just to plot what they look like.
px = P(:,1); py = P(:,2);
sl = S*[0 -1; 1 0];
scatter(sl(:,1), sl(:,2)+10, 10, 'blue');
axis equal;  hold on;
xlim([-1 21]);
scatter(px, py, 10, 'black', 'filled');
legend(sprintf('Target shape, m=%d', m), 'Initial pose');