function xy = polar2cart(rp)
% POLAR2CART - converting polar coordinates to cartesian coordinate
% system. 
%   
% rp = [R phi];
% xy = [x y];
% 
% Dirk Tenne 03/20/2002
% CoDE
% http://code.eng.buffalo.edu/tracking
% 
  
 xy = rp;
 xy(1) = rp(1)*cos(rp(2));
 xy(2) = rp(1)*sin(rp(2));
  
  