ss="helptopic">Predict next state based on odometry</span></p><p>
<strong>xn</strong> = V.<span style="color:red">f</span>(<strong>x</strong>, <strong>odo</strong>) is the predicted next state <strong>xn</strong> (1x3) based on current
state <strong>x</strong> (1x3) and odometry <strong>odo</strong> (1x2) = [distance, heading_change].

</p>
<p>
<strong>xn</strong> = V.<span style="color:red">f</span>(<strong>x</strong>, <strong>odo</strong>, <strong>w</strong>) as above but with odometry noise <strong>w</st