function PlotGraphics( t,Q,dQ )
%__________________________________________________________________________
% in_args:   t, time vector
%            Q, angular joint positions
%           dQ, angular joint velocities
% out_args: NONE
%
% Plot the graphics of the time evolution
 figure, plot(t,Q(1,:)*180/pi,'r', t,Q(2,:)*180/pi,'b',...
              t,Q(3,:)*180/pi,'g', t,Q(4,:)*180/pi,'k')
         xlabel('Time (s)'), ylabel('Joint angle positions (deg)')
         legend('q1','q2','q3','q4')
 figure, plot(t,dQ(1,:),'r', t,dQ(2,:),'b',...
              t,dQ(3,:),'g', t,dQ(4,:),'k')
         xlabel('Time (s)'), ylabel('Joint angular velocities (deg/s)')
         legend('dq1','dq2','dq3','dq4')
%__________________________________________________________________________
end

