Differential Drive Odometry Model

%PREDICT Apply odometry model for differential drive robot.
%   [R,FXR,PATH] = PREDICT(R,ENC,PARAMS)
%   calculates the final pose and final pose covariance matrix given
%   a start pose, a start pose covariance matrix and the angular wheel
%   displacements in ENC. PARAMS contains the robot model and the
%   error growth coefficients.
%
%   Input arguments:
%      R   : differential drive robot object with start pose R.X, R.C
%      ENC : structure with fields
%            ENC.PARAMS.KL: error growth coefficient of left wheel
%            ENC.PARAMS.KR: error growth coefficient of right wheel
%               with unit in [1/m].
%            ENC.STEPS(i).DATA1: angular displacements of left wheel
%            ENC.STEPS(i).DATA2: angular displacements of right wheel
%               in [rad] and monotonically increasing
%      PARAMS.B : wheelbase in [m]. Distance between the two wheel
%                 contact points
%      PARAMS.RL: radius of left wheel in [m]
%      PARAMS.RR: radius of right wheel in [m]
%
%   Output arguments:
%      R    : differential drive robot object with final pose R.X, R.C
%      FXR  : 3x3 process model Jacobian matrix linearized with
%             respect to XROUT
%      PATH : array of structure with fields PATH(i).X (3x1) and
%             PATH(i).C (3x3) which holds the poses and the pose
%             covariance matrices over the path
%
%   The function implements an error model for differential drive
%   robots which models non-systematic odometry errors in the wheel
%   space and propagates them through the robot kinematics onto the
%   x,y,theta-pose level.
%
%   Reference:
%      K.S. Chong, L. Kleeman, "Accurate Odometry and Error Modelling
%      for a Mobile Robot," IEEE International Conference on Robotics
%      and Automation, Albuquerque, USA, 1997.
%

% v.1.1, ~2000, Kai Arras, ASL-EPFL, Felix Wullschleger, IfR-ETHZ
% v.1.2, 29.11.2003, Kai Arras, CAS-KTH: toolbox version

function [r,Fxr,path] = predict(r,enc)


When I try to run this complete code, it asks me to input values for R and Enc. I am not sure whether they are just one digit values or a matrix. Can anyone help me by looking at the description in the code, what kind of input is required.