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%
%	function [GPS,yaw_gyro,delta_enc]=run_MKZ(delta, Vel, X0, mu);
%
%	Assumes time step of Ts=0.01 (100 Hz).
%
%   generates sensor data for the MKZ
%
%	GPS=[East (m)  North(m)  Heading(rad) Speed (m/s) Course(rad)];
%
%   Vel = vehicle speed in m/s
%   (Note if Vel is negative the tires and CG are swapped)
%
%   mu = max coefficient of friction.  If ommitted, the simulation uses
%   the linear tire model (i.e. no friction limit).  Currently mu does not
%   change the max force but only uses the current non-linear tire model.
%
%   Note: the max vehicle steer angle is 30 degrees
%
%   X0=[East0 (m)  North0 (m)  Heading0 (rad) yaw_rate0 (rad/s)];
%   Default X0=[0 0 0 0];
%
%   Note: You must run "clear all" to reset the initial conditions.
%	
%
%   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, 0.01 seconds after commanding 10 degrees of steer
%   angle at 30 m/s using the linear bicycle model.
%
%   Note: You must run clear all to reset the initial conditions.
%	
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