his noisy odometry

</p>
<pre style="width: 90%%;" class="examples">
v&nbsp;=&nbsp;Unicycle(&nbsp;'covar',&nbsp;diag([0.1&nbsp;0.01].^2&nbsp;);
</pre>
<p>
and display its initial state

</p>
<pre style="width: 90%%;" class="examples">
v
</pre>
<p>
now apply a speed (0.2m/s) and steer angle (0.1rad) for 1 time step

</p>
<pre style="width: 90%%;" class="examples">
odo&nbsp;=&nbsp;v.step(0.2,&nbsp;0.1)
</pre>
<p>
where odo is the noisy odometry estimate, and the new true vehicle state

</p>
<pre style="width: