Exercise 8, problem 1.1

To calculate the predicted pose, the following formula was inserted:

poseOut = poseIn + [((delSr+delSl)/2)*cos(poseIn(3)+(delSr-delSl)/(2*odoB));((delSr+delSl)/2)*sin(poseIn(3)+(delSr-delSl)/(2*odoB));(delSr-delSl)/odoB];

After inserting the code in positionPrediction.m, we got the following results:

- for a circular path:

 - for a linear path:

 - for a square path: