% Dynamical model function for the nonholonomic motion model
function xn = ekf_nonholonomic_f(x,param)

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

xp=x(1);
yp=x(2);
v=x(3);
t=x(4);
f=x(5);
df=x(6);

xn(1)=cos(t)*cos(f)*v*dt+xp;
xn(2)=sin(t)*cos(f)*v*dt+yp;
xn(3)=v;
xn(4)=sin(f)*v*dt/l+t;
xn(5)=df*dt+f;
xn(6)=df;

xn=xn';
