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I am trying to self localize a 3 wheeled omni directional robots using just motor encoders I followed the odometry method mentioned in equations 5,8,9 of https://bibliotecadigital.ipb.pt/bitstream/10198/1897/1/C2_002_Gon%C3%A7alves.pdf

But I cant seem to implement the equations in code, It'll be helpful if anyone help me out with the basic structure of the code or flowchart

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