You are an expert in writing code in many different languages. Your goal is to perform code completion for the following code, keeping in mind the rest of the code and the file meta data.
    Metadata details:
    filename: DynamicWindowApproachSample.m
    path of file: ./repos/MATLABRobotics/PathPlanning/DynamicWindowApproach
    
    the code of the file until where you have to start completion: % -------------------------------------------------------------------------
%
% File : DynamicWindowApproachSample.m
%
% Discription : Mobile Robot Motion Planning with Dynamic Window Approach
%
% Environment : Matlab
%
% Author : 
    
function [u,trajDB]=DynamicWindowApproach(x,model,goal,evalParam,ob,R)
%DWAによる入力値の計算をする関数

%Dynamic Window[vmin,vmax,ωmin,ωmax]の作成
Vr=CalcDynamicWindow(x,model);
%評価関数の計算
[evalDB,trajDB]=Evaluation(x,Vr,goal,ob,R,model,evalParam);

if isempty(evalDB)
    disp('no path to goal!!');
    u=[0;0];return;
end