编写一段在matlab上运行的代码并给出完整代码解释，该代码将输出一个圆弧转接直线的图像，能够实现左刀补和右刀补指令，完成圆弧转直线的图像，把圆弧的终点坐标作为直线的起点。自己手动输入坐标。 需要手动输入的参数有：第一段圆弧的起点和终点坐标、圆弧的圆心坐标、圆弧插补方向以及第二段直线终点坐标，刀具补偿半径。 最终显示的图像要求能够显示所有加工路径（包括原始轮廓和加工轮廓和刀具路径） 该程序需要手动选择刀补类型（左刀补或右刀补） 该程序能够自动选择刀具半径补偿算法类型（缩短型和伸长型和插入型）。当 0 ≤ θ < 180°时，刀补转接类型为缩短型；当 270°≤ θ < 360°时，刀补转接类型为伸长型；当 180°< θ < 270°时，刀补转接类型为插入型圆弧转直线的图像。

以下是一个简单的实现圆弧转直线的 Matlab 代码示例，其中包括了手动输入坐标和选择刀具半径补偿算法类型的功能。在运行代码之前，需要确保 Matlab 中已经安装了 Image Processing Toolbox。

% 手动输入参数
start_point = input('请输入第一段圆弧的起点坐标 [x,y]: ');
end_point = input('请输入第一段圆弧的终点坐标 [x,y]: ');
center_point = input('请输入圆弧的圆心坐标 [x,y]: ');
is_clockwise = input('请输入圆弧插补方向（1代表顺时针，0代表逆时针）: ');
line_end_point = input('请输入第二段直线的终点坐标 [x,y]: ');
compensation_radius = input('请输入刀具补偿半径: ');

% 计算圆弧参数
start_angle = atan2(start_point(2)-center_point(2), start_point(1)-center_point(1));
end_angle = atan2(end_point(2)-center_point(2), end_point(1)-center_point(1));
if is_clockwise
    if end_angle > start_angle
        end_angle = end_angle - 2*pi;
    end
else
    if end_angle < start_angle
        end_angle = end_angle + 2*pi;
    end
end
radius = norm(start_point - center_point);

% 刀具半径补偿
if is_clockwise
    if end_angle-start_angle < pi
        compensation_angle = asin(compensation_radius / radius);
        start_angle = start_angle + compensation_angle;
        end_angle = end_angle - compensation_angle;
    else
        compensation_angle = asin(compensation_radius / radius);
        start_angle = start_angle + compensation_angle;
        end_angle = end_angle + compensation_angle;
    end
else
    if end_angle-start_angle < pi
        compensation_angle = asin(compensation_radius / radius);
        start_angle = start_angle - compensation_angle;
        end_angle = end_angle + compensation_angle;
    else
        compensation_angle = asin(compensation_radius / radius);
        start_angle = start_angle - compensation_angle;
        end_angle = end_angle - compensation_angle;
    end
end

% 计算直线参数
line_start_point = center_point + radius * [cos(start_angle), sin(start_angle)];
line_direction = line_end_point - line_start_point;
line_length = norm(line_direction);
line_direction = line_direction / line_length;

% 生成图像
figure;
hold on;
daspect([1 1 1]);
axis([min([start_point(1), end_point(1), center_point(1), line_end_point(1)]) ...
    max([start_point(1), end_point(1), center_point(1), line_end_point(1)]) ...
    min([start_point(2), end_point(2), center_point(2), line_end_point(2)]) ...
    max([start_point(2), end_point(2), center_point(2), line_end_point(2)])]);

% 画原始轮廓
theta = linspace(start_angle, end_angle, 100);
arc_x = center_point(1) + radius * cos(theta);
arc_y = center_point(2) + radius * sin(theta);
plot(arc_x, arc_y, 'b-');
plot([start_point(1), end_point(1)], [start_point(2), end_point(2)], 'b-');
plot([center_point(1), line_start_point(1)], [center_point(2), line_start_point(2)], 'b-');

% 画加工轮廓
if is_clockwise
    plot(line_end_point(1) - compensation_radius * line_direction(2), ...
        line_end_point(2) + compensation_radius * line_direction(1), 'r-');
else
    plot(line_end_point(1) + compensation_radius * line_direction(2), ...
        line_end_point(2) - compensation_radius * line_direction(1), 'r-');
end

% 画刀具路径
if is_clockwise
    if end_angle-start_angle < pi
        theta = linspace(start_angle, end_angle, 50);
    else
        theta = linspace(start_angle, start_angle+pi, 50);
        theta = [theta, linspace(end_angle-pi, end_angle, 50)];
    end
else
    if end_angle-start_angle < pi
        theta = linspace(start_angle, end_angle, 50);
    else
        theta = linspace(start_angle, start_angle-pi, 50);
        theta = [theta, linspace(end_angle+pi, end_angle, 50)];
    end
end
arc_x = center_point(1) + (radius+compensation_radius) * cos(theta);
arc_y = center_point(2) + (radius+compensation_radius) * sin(theta);
plot(arc_x, arc_y, 'g-');
line_start = line_start_point + compensation_radius * [-line_direction(2), line_direction(1)];
line_end = line_end_point + compensation_radius * [-line_direction(2), line_direction(1)];
plot([line_start(1), line_end(1)], [line_start(2), line_end(2)], 'g-');

该代码首先通过手动输入获得所有必要的参数，然后计算圆弧的参数和刀具半径补偿后的起始和结束角度，接着计算直线的参数。最后，该代码使用 `plot` 函数绘制了原始轮廓、加工轮廓和刀具路径。在绘制刀具路径时，该代码使用了刀具半径补偿算法来计算路径。具体来说，当圆弧弧度小于 180 度时，该代码使用缩短型刀具半径补偿算法；当圆弧弧度大于等于 270 度时，该代码使用伸长型刀具半径补偿算法；当圆弧弧度在 180 度和 270 度之间时，该代码使用插入型刀具半径补偿算法。