classdef SimulatorState < handle % This structure stores simulator state results properties(Access = public) % The current time (in s) currentTime; % The true state of the vehicle; use for debugging but NOT in your % filter. State is (x,y,psi) xTrue; % The true map; use for debugging but NOT in your % filter. State is (m1x, m1y, m2x, m2y, ....) mTrue; % The true control inputs (speed, angle turn rate) uTrue; % The waypoints. Order is [w1 w2 w3 ...] where each waypoint % is w1 = (x1, y1)' waypoints; end end