%% Compute Bicycle Odometry Using Wheel Encoder Ticks and Steering Angle
% Create a wheelEncoderOdometryBicycle System object.

whlEncOdom = wheelEncoderOdometryBicycle;

% Specify the number of wheel encoder ticks and the steering angle.

ticks = [5; 2];
steer = [0.2; 0.2];

% Compute the bicycle odometry.

[pose,vel] = whlEncOdom(ticks,steer)

% Copyright 2020 The MathWorks, Inc.