-space: nowrap;" class="col1"> x_hist</td> <td>history of true vehicle state (Nx3)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> driver</td> <td>reference to the driver object</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> x0</td> <td>initial state, restored on init()</td></tr>
</table>
<h2>Examples</h2>
<p>
Odometry covariance (per timstep) is

</p>
<pre style="width: 90%%;" class="examples">
V&nbsp;=&nbsp;diag([0.02,&nbsp;0.5*pi/180].^2);
</pre>
<p>
Create a vehicle with t