use the following pseudocode to create the program, and run it at .5 time intervals (starting at 0), for a total of 100 times, and output the time, x position, y position, x velocity, y velocity, x linear, y linear, orientation, rotation, and angular each time to an output file.

struct Kinematic: positiorn orientation velocity rotation # 2D or 3D vector # single floating point value # 2D or 3D vector # single floating point value struct SteeringOutput: linear angular # 2D or 3D vector # single floating point value def update (steering, time) # Update the position and orientation position velocity time 0.5steering.lineartime time orientation rotation time 0.5 steering.angular* time time # Update the velocity and rotation velocitysteering.lineartime rotation steering.angular * time