# tangent

Define a tangent line to parametrize the definition of a cable system.

## Syntax

tangent(c1,v1,r1,c2,v2,r2)

out = tangent(...)

## Inputs

`c1`- Circle center coordinates in a 3-element vector.
`v1`- Circle orientation coordinates in a 3-element vector.
`r1`- Circle radius.
`c2`- Circle center coordinates in a 3-element vector.
`v2`- Circle orientation coordinates in a 3-element vector.
`r2`- Circle radius.

## Outputs

`out`- Output

## Examples

Example with output argument.

```
c1 = [1000,0,0];
v1 = [0,0,100];
r1 = 0;
c2 = [2000,0,0];
v2 = [0,0, 100];
r2_ = 100;
out = tangent(c1, v1, r1, c2, v2, r2_);
disp(out);
```

`[Matrix] 2 x 3
1000.00000 0.00000 0.00000
1990.00000 -99.49874 0.00000`

## Comments

This function is used along with pulley and winch to parametrize the definition of a cable system.