ometry</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> step</td> <td>move one time step and return noisy odometry</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> control</td> <td>generate the control inputs for the vehicle</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> update</td> <td>update the vehicle state</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> run</td> <td>run for multiple time steps</td></tr>
  <tr><td style="white-space: nowrap;" cl