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%
%	function [GPS,yaw_gyro,delta_enc]=run_MKZ(delta, Vel, X0);
%
%	Assumes time step of Ts=0.1 (10 Hz).
%
%   generates sensor data (for the linear bicycle model with contstant vel & Ts)
%
%	GPS=[East (m)  North(m)  Heading(rad)];
%
%   Vel = vehicle speed in m/s (should not be negative - don't drive backwards!)
%
%   Note: the max vehicle steer angle is 30 degrees
%
%   X0=[East0 (m)  North0 (m)  Heading0 (rad)];
%   Default X0=[0 0 0];
%
%   Example:
%   [GPS(k+1,:),yaw_gyro(k+1),delta_enc(k+1)]=run_MKZ(10*pi/180, 30);
%
%   The above will calculate the next GPS positions (E,N,Heading), Yaw
%   Gryo, and steer angle, 0.1 seconds after commanding 10 degrees of steer
%   angle at 30 m/s).
%
%   Note: You must run clear all to reset the initial conditions.
%	
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