% Copyright (C) 1993-2013, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
% 
% RTB is free software: you can redistribute it and/or modify
% it under the terms of the GNU Lesser General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% (at your option) any later version.
% 
% RTB is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
% GNU Lesser General Public License for more details.
% 
% You should have received a copy of the GNU Leser General Public License
% along with RTB.  If not, see <http://www.gnu.org/licenses/>.
%
% http://www.petercorke.com

%%begin

% We will show how to make a mobile robot with "car-like" steering drive from
% one pose to another.

% The goal pose is
xg = [5 5 pi/2];

% and the starting pose is
x0 = [5 9 0]

% We use a Simulink model to represent the dynamics of the vehicle and to
% implement a pose controller
sl_drivepose

% We run the simulation
r = sim('sl_drivepose');
% and extract the trajectory of the robot
y = r.find('yout');

% which we plot
axis([0 10 0 10]); hold on; grid on
plot(y(:,1), y(:,2));
% and overlay the initial and final pose of the robot
plot_vehicle(x0, 'r'); plot_vehicle(xg, 'r');
% Note the complex path the robot had to follow, since it's motion is limited
% by the nature of the steering mechanism.