At initialisation
:param wheelbase:       (float) vehicle's wheelbase [m]
:param max_steer:       (float) vehicle's steering limits [rad]
:param dt:              (float) discrete time period [s]
:param c_r:             (float) vehicle's coefficient of resistance 
:param c_a:             (float) vehicle's aerodynamic coefficient

At every time step  
:param x:               (float) vehicle's x-coordinate [m]
:param y:               (float) vehicle's y-coordinate [m]
:param yaw:             (float) vehicle's heading [rad]
:param velocity:        (float) vehicle's velocity in the x-axis [m/s]
:param throttle:        (float) vehicle's accleration [m/s^2]
:param delta:           (float) vehicle's steering angle [rad]

:return x:              (float) vehicle's x-coordinate [m]
:return y:              (float) vehicle's y-coordinate [m]
:return yaw:            (float) vehicle's heading [rad]
:return velocity:       (float) vehicle's velocity in the x-axis [m/s]
:return delta:          (float) vehicle's steering angle [rad]
:return omega:          (float) vehicle's angular velocity [rad/s]