text: #!/usr/bin/python
  #
  # This is a quick script to show the effect of the wheel nonlinearity term on
  # turning rate
  
  from matplotlib import pylab
  import numpy
  
  if __name__ == '__main__':
    x = numpy.arange(-1, 1, 0.01)
  
    for nonlin in numpy.arange(0.2, 1.0, 0.1):
      angular_range = numpy.pi * nonlin / 2.0
      newx1 = numpy.sin(x * angular_range) / numpy.sin(angular_range)
      newx2 = numpy.sin(newx1 * angular_range) / numpy.sin(angular_range)
  
      pylab.plot(x, newx2, label="nonlin %f" % nonlin)
  
    pylab.legend()
    pylab.show()
  