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differential steering control by single genetic PID

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from differential steering control by single genetic PID by Paolo Di Prodi
A framework for a differential steering vehicle controlled by a PID system tuned with a genetic algo

rightpos=RightWheelLoc(position,bw) 
%% Author: epokh
%% Website: www.epokh.org/drupy
%% This software is under GPL


function rightpos=RightWheelLoc(position,bw)
%% This function calculate the right wheel position of the robot
theta=position(3);
rx=position(1)+bw/2*cos(theta-pi/2);
ry=position(2)+bw/2*sin(theta-pi/2);
rightpos=[rx,ry];
end

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