%% Author: epokh
%% Website: www.epokh.org/drupy
%% This software is under GPL

function leftpos=LeftWheelLoc(position,bw)
%% this function calculate the left wheel position of the robot
theta=position(3);
lx=position(1)+bw/2*cos(theta+pi/2);
ly=position(2)+bw/2*sin(theta+pi/2);
leftpos=[lx,ly];
end