from roblib import *  # available at https://www.ensta-bretagne.fr/jaulin/roblib.py

def f(x,u):
    return (array([x[3]*cos(x[4])*cos(x[2]),
                       x[3]*cos(x[4])*sin(x[2]),
                       x[3]*sin(x[4])/3,
                       u[0],
                       u[1]]))


dt = 0.1
u = array([[0,0]]).T
x = array([[0,0,pi/3,4,0.2]]).T

Gα = array([[0,0,0,0,0],
                [0,0,0,0,0],
                [0,0,0.01*dt,0,0],
                [0,0,0,0.01*dt,0],
                [0,0,0,0,0.01*dt]])

ax=init_figure(-50,50,-50,50)

for t in arange(0,10,dt) :
    clear(ax)
    draw_car(x)  	
    uz = array([[0,0,dt*u[0]]]).T   
    x = x + dt*f(x,u) + mvnrnd1(Gα)
pause(1)
16b8675c6ad4b1da4066347f3b8bf0c54378e7d1
<mask token>


def f(x, u):
    return array([x[3] * cos(x[4]) * cos(x[2]), x[3] * cos(x[4]) * sin(x[2]
        ), x[3] * sin(x[4]) / 3, u[0], u[1]])


<mask token>

<mask token>


def f(x, u):
    return array([x[3] * cos(x[4]) * cos(x[2]), x[3] * cos(x[4]) * sin(x[2]
        ), x[3] * sin(x[4]) / 3, u[0], u[1]])


<mask token>
for t in arange(0, 10, dt):
    clear(ax)
    draw_car(x)
    uz = array([[0, 0, dt * u[0]]]).T
    x = x + dt * f(x, u) + mvnrnd1(Gα)
pause(1)

<mask token>


def f(x, u):
    return array([x[3] * cos(x[4]) * cos(x[2]), x[3] * cos(x[4]) * sin(x[2]
        ), x[3] * sin(x[4]) / 3, u[0], u[1]])


dt = 0.1
u = array([[0, 0]]).T
x = array([[0, 0, pi / 3, 4, 0.2]]).T
Gα = array([[0, 0, 0, 0, 0], [0, 0, 0, 0, 0], [0, 0, 0.01 * dt, 0, 0], [0, 
    0, 0, 0.01 * dt, 0], [0, 0, 0, 0, 0.01 * dt]])
ax = init_figure(-50, 50, -50, 50)
for t in arange(0, 10, dt):
    clear(ax)
    draw_car(x)
    uz = array([[0, 0, dt * u[0]]]).T
    x = x + dt * f(x, u) + mvnrnd1(Gα)
pause(1)

from roblib import *


def f(x, u):
    return array([x[3] * cos(x[4]) * cos(x[2]), x[3] * cos(x[4]) * sin(x[2]
        ), x[3] * sin(x[4]) / 3, u[0], u[1]])


dt = 0.1
u = array([[0, 0]]).T
x = array([[0, 0, pi / 3, 4, 0.2]]).T
Gα = array([[0, 0, 0, 0, 0], [0, 0, 0, 0, 0], [0, 0, 0.01 * dt, 0, 0], [0, 
    0, 0, 0.01 * dt, 0], [0, 0, 0, 0, 0.01 * dt]])
ax = init_figure(-50, 50, -50, 50)
for t in arange(0, 10, dt):
    clear(ax)
    draw_car(x)
    uz = array([[0, 0, dt * u[0]]]).T
    x = x + dt * f(x, u) + mvnrnd1(Gα)
pause(1)

from roblib import *  # available at https://www.ensta-bretagne.fr/jaulin/roblib.py

def f(x,u):
    return (array([x[3]*cos(x[4])*cos(x[2]),
                       x[3]*cos(x[4])*sin(x[2]),
                       x[3]*sin(x[4])/3,
                       u[0],
                       u[1]]))


dt = 0.1
u = array([[0,0]]).T
x = array([[0,0,pi/3,4,0.2]]).T

Gα = array([[0,0,0,0,0],
                [0,0,0,0,0],
                [0,0,0.01*dt,0,0],
                [0,0,0,0.01*dt,0],
                [0,0,0,0,0.01*dt]])

ax=init_figure(-50,50,-50,50)

for t in arange(0,10,dt) :
    clear(ax)
    draw_car(x)  	
    uz = array([[0,0,dt*u[0]]]).T   
    x = x + dt*f(x,u) + mvnrnd1(Gα)
pause(1)