text: import numpy as np
  #from scipy.integrate import odeint
  
  def normalize_angle(theta):
      return np.arctan2(np.sin(theta), np.cos(theta))    
  
  class Vehicle:
      def __init__(self, x=0, y=0, theta=0, v=0, wheel_base=2):
          self.x = x
          self.y = y
          self.v = v
          self.theta = normalize_angle(theta)
          self.wheel_base = wheel_base
  
      def update(self, dt, delta, a):
          a = max(0.0,a)
          self.x += dt*self.v * np.cos(self.theta)
          self.y += dt*self.v * np.sin(self.theta)
          theta_dot = self.v*np.tan(delta)/self.wheel_base
          self.theta = normalize_angle(self.theta + theta_dot*dt)
          aeff = a - self.v**2 * 0.001
          self.v += dt*aeff
  
      def print(self):
          print("vehicle.x")
          print(self.x)
          print("vehicle.y")
          print(self.y)
          print("vehicle.theta")
          print(self.theta)
  
  
  if __name__=="__main__":
      vehicle = Vehicle(0,0,0,10)
      vehicle.update(0.1, 0.2, 1)
      vehicle.print()