Is your feature request related to a problem? Please describe.
In smaller drivetrains, it can be difficult to place multiple tracking encoder wheels in such a way to allow use of the 2 or 3 encoder odometry methods. This limits these drivetrains to internal encoders, which increases the potential for error.

Describe the solution you"d like
Two new derived odometry classes. The first class would use one centrally mounted encoder wheel to measure forward translation and an inertial sensor to measure heading. This class would be similar in function to the existing two encoder odometry class. A second derived class would add a strafe encoder in a similar manner to the existing three encoder class.

Describe alternatives you"ve considered
Existing odometry models.

Versions
kernel 3.2.1 pros-mainline
okapilib 4.0.3 pros-mainline

Additional context
This feature requires the resolution of issue #444 .