% use numerical integration and plot 
% steering for bicycle model of car
% init condx [theta ya xb yb]
L = 0.3;     % car length m
theta = 0.0; ya = 0.25; % parallel to line, 0.25 m offset
xb = -L * cos(theta); yb =ya +L * sin(theta); 
y0 = [theta ya xb yb]; 
t0 = 0.0;   tf = 5; 
tspan = [t0 tf]; % simulate for 20 seconds
[t,y] = ode45('bicycle',tspan,y0); 
% You can try ode15s if you have any problems on ode45.
y1=y(:,1);  % orientation wrt line
y2=y(:,2);  % offset wrt line of front of car
y3=y(:,3);  % longitudinal position of back of car
y4=y(:,4);  % lateral posiiton of back of car

plot(y3,y4);

