%% Generate Wheel Ticks from Unicycle Vehicle Pose
% Create the wheel encoder sensor.

encoder = wheelEncoderUnicycle;

% Define poses of the vehicle.

orient = [quaternion([90 0 0],'eulerd','ZYX','frame'); quaternion([45 0 0], 'eulerd', 'ZYX', 'frame')];
vel = [1 0 0; 0 1 0];
angvel = [0 0 0.2; 0 0 0.1];

% Generate wheel ticks from the poses.

ticks = encoder(vel,angvel,orient)

% Copyright 2020 The MathWorks, Inc.