Create a matlab function: F_rolling

This function should validate that (a) there are five inputs, (b) that the first two inputs are scalars or vectors of the same size, (c) that all elements of the second argument are between -75 degrees and +75 degrees, (d) that the third and fourth inputs are structs, and (e) that the fifth input is a positive scalar. If any condition fails, call error(). Be wary of sign conventions. This force always should oppose rover motion (which we assume is in the positive direction). Be wary of units. This function must call get_mass.m and get_gear_ratio.m

F rolling General Description This function computes the component of force due to rolling resistance, in Newtons, acting in the direction of rover translation. This force is a function of the angle the terrain makes with the horizon (in degrees), the total mass of the rover (in kg), and the rolling resistance coefficient (which is a unitless constant that depends on properties of both the wheels and the ground) This function should be "vectorized" such that if given a vector of terrain angles, it returns a vector of the same size consisting of the corresponding forces This function computes the rolling resistance summed over all six wheels. Assume that 1/6" the rover normal force acts on each wheel Calling Syntax FrrF rolling (omega, terrain angle, rover, planet, Crr) Input Arguments omega terrain angle rovel planet Crr N element arrayArray of motor shaft speeds [rad/s] N element array struct struct scalar Array of terrain angles [degl Data structure containing rover parameters Data structure containing planet gravity parameter Value of rolling resistance coefficient [-] Return Arguments Frr array Array of forces N Additional Specifications and Notes