# Wheel odometry and error
# Scope: Differential-drive short-interval body displacement; no slip or pose integration.
# Status: illustrative worked example; engineering review pending.
# Inputs are example values. Checks are editable example requirements, not standards.

left = 0.1 m
right = 0.12 m
track = 0.3 m

distance := (left+right)/2 [m]
heading := (right-left)/track [rad]

check heading increment budget: abs(heading) <= 10 deg

scenario alternative: left = 0.08 m