velocity_scaling

using Gadfly
using Cairo

lin_vel = 0.3
ang_vel = -π/4

scale_setp = 0.2
time_step = 0.05

trajectories = Array(Float64, convert(Int32, 1/time_step),2,0)

for scale_val = 0.2:scale_step:1.0
    lin_vel_scaled = lin_vel * scale_val
    ang_vel_scaled = ang_vel * scale_val

    pos_x = 0.0
    pos_y = 0.0
    pos_theta = 0.0
    trajectory = Array(Float64, 0, 2)
    for time_val = time_step:time_step:1.0
        new_pos_x = pos_x + lin_vel_scaled * cos(pos_theta) * time_step;
        new_pos_y = pos_y + lin_vel_scaled * sin(pos_theta) * time_step;
        new_pos_theta = pos_theta + ang_vel_scaled * time_step;

        trajectory = vcat(trajectory, [new_pos_x new_pos_y])

        pos_x = new_pos_x
        pos_y = new_pos_y
        pos_theta = new_pos_theta
    end

    trajectories = cat(3, trajectories, trajectory)
end

draw(SVGJS("trajectories.svg", 30cm, 30cm), plot([layer(x=trajectories[:,2,i], y=trajectories[:,1,i], Geom.path()) for i in 1:size(trajectories,3)]..., Scale.x_continuous(minvalue=-1.5, maxvalue=1.5), Scale.y_continuous(minvalue=0.0, maxvalue=1.5)))

trajectories.svg