function y=createMeasuremet(dx,dy,dtheta,param)

dt=param(1);
l=param(2);

v1=(sqrt(dtheta*dtheta*l*l/(dx*dx+dy*dy)+1)*sqrt(dx*dx+dy*dy))/dt;
% v2=-(sqrt(dtheta*dtheta*l*l/(dx*dx+dy*dy)+1)*sqrt(dx*dx+dy*dy))/dt;

%New versions
% theta1=atan((dtheta*dy*l)/( (dtheta*l-(dtheta*dx*l)/(sqrt(dx*dx + dy*dy)))*sqrt(dx*dx+dy*dy) ));
% theta1=-(log(-(dx*exp(atan((dtheta*l)/(dx^2 + dy^2)^(1/2))*1i)*2*1i + 2*dy*exp(atan((dtheta*l)/(dx^2 + dy^2)^(1/2))*1i) - ((dtheta^2*l^2)/(dx^2 + dy^2) + 1)^(1/2)*(dx^2 + dy^2)^(1/2)*i - exp(atan((dtheta*l)/(dx^2 + dy^2)^(1/2))*2*i)*((dtheta^2*l^2)/(dx^2 + dy^2) + 1)^(1/2)*(dx^2 + dy^2)^(1/2)*i)/(- dx*exp(atan((dtheta*l)/(dx^2 + dy^2)^(1/2))*i)*2*i + 2*dy*exp(atan((dtheta*l)/(dx^2 + dy^2)^(1/2))*i) + ((dtheta^2*l^2)/(dx^2 + dy^2) + 1)^(1/2)*(dx^2 + dy^2)^(1/2)*i + exp(atan((dtheta*l)/(dx^2 + dy^2)^(1/2))*2*1i)*((dtheta^2*l^2)/(dx^2 + dy^2) + 1)^(1/2)*(dx^2 + dy^2)^(1/2)*1i))*1i)/2;

theta1=acos(dx/(sqrt(dx*dx+dy*dy)));
% theta1=atan2(dy,dx);
% theta2=pi+acos(dx/(sqrt(dx*dx+dy*dy)));

phi1=atan(dtheta*l/(sqrt(dx*dx+dy*dy)));
% phi2=-atan(dtheta*l/(sqrt(dx*dx+dy*dy)));

% theta1=acos(dx*tan(phi1)/(dtheta*l));

y=[v1 theta1 phi1];