%==============================================
% increm.m
%==============================================

function y = increm(dt,yout,u,pe)

  x = yout(1);                               % x value
  y = yout(2);                               % y value
  th = yout(3);                              % z value

  d = u(1) + pe(1)*0.001;
  t = u(2) + pe(2)*0.05;

  x = x + d*cos(th+t);
  y = y + d*sin(th+t);
  th = th + t;

  y = [x,y,th]';     
