% plotting script for car data;
k = 1;
axis([0 105 -52.5 52.5])
axis manual
axis equal
hold on

% variable to keep only every 10th entry in output arrays
keep = 1:10:length(simout);
x1 = [0 100];
y1 = [-10 -10];
plot(x1,y1,'k-')
hold on
y2 = zeros(1,2);
plot(x1,y2,'k--')

y3 = -y1;
plot(x1,y3,'k-')
w = 2;
xa = simout(keep,1);
xb = simout(keep,3);
ya = simout(keep,2);
yb = simout(keep,4);

psi = psi(keep);

xrr = xa + w/2*cos(psi - pi/2);
yrr = ya + w/2*sin(psi - pi/2);
xrf = xb + w/2*cos(psi - pi/2);
yrf = yb + w/2*sin(psi - pi/2);
xlf = xb + w/2*cos(psi + pi/2);
ylf = yb + w/2*sin(psi + pi/2);
xlr = xa + w/2*cos(psi + pi/2);
ylr = ya + w/2*sin(psi + pi/2);
while k <=length(simout)
%     if k > 1
%     plot([simout(k-1,1) simout(k-1,3) simout(k-1,5) simout(k-1,7) simout(k-1,1)],...
%         [simout(k-1,2) simout(k-1,4) simout(k-1,6) simout(k-1,8), simout(k-1,2)],'w-')
% end
    plot([xrr(k) xrf(k) xlf(k) xlr(k) xrr(k)],[yrr(k) yrf(k) ylf(k) ylr(k) yrr(k)],'b-')
%     plot([simout(k,1) simout(k,3)],...% simout(k,5) simout(k,7) simout(k,1)],...
%         [simout(k,2) simout(k,4)],'b-')% simout(k,6) simout(k,8), simout(k,2)],'b-')
M(:,k) = getframe;

k = k + 1;
end