diff --git a/Robotics/Navigation/DeadReckoning/DeadReckoningModule.C b/Robotics/Navigation/DeadReckoning/DeadReckoningModule.C
index e67d418..37ec47e 100644
--- a/Robotics/Navigation/DeadReckoning/DeadReckoningModule.C
+++ b/Robotics/Navigation/DeadReckoning/DeadReckoningModule.C
@@ -18,11 +18,49 @@ void DeadReckoningModule::onMessage(VelocityCommand msg)
 {
   std::lock_guard<std::mutex> _(itsMtx);
 
+  if(msg->linear.y() != 0 || msg->linear.z() != 0 || msg->angular.x() != 0 || msg->angular.y() != 0)
+    throw NRT_MODULE_EXCEPTION("The Dead Reckoning Module can only handle linear.x and angular.z velocities!");
+
   if(itsLastUpdateTime != nrt::Time())
   {
+    // Get the time since last update in seconds
+    double deltaTime = nrt::Duration(nrt::now() - itsLastUpdateTime).count();
+
+    Eigen::Vector3d translation;
+    Eigen::AngleAxisd rotation;
+    if(msg->angular.z() == 0)
+    {
+    }
+    else
+    {
+      // The amount we have turned (theta displacement) 
+      double dtheta = itsLastVelocity.angular.z() * deltaTime;
+
+      // The radius of the circle we have been following
+      // This is calculated by solving: (angularVelocity * time)   (linearVelocity * time)  
+      //                                ------------------------ = -----------------------
+      //                                          (2*pi)                (2*pi*radius)
+      double radius = itsLastVelocity.linear.x() / itsLastVelocity.angular.z();
+
+      // The length of the chord from our last position to our current one
+      double chordLength = (sin(dtheta) / radius) * 2;
+
+      // The angle made between the radius, and the chord
+      double oldTheta = 0; // <<<<<<<<<<< How do we get oldTheta??
+      double theta2 = (NRT_D_PI / 2.0 - dtheta/2.0) + oldTheta;
+
+      // The actual displacement from our current position
+      translation =  Eigen::Vector3d(
+          cos(theta2) * chordLength,
+          sin(theta2) * chordLength,
+          1);
+
+      rotation = Eigen::AngleAxisd(dtheta, Eigen::Vector3d::UnitZ());
+    }
   }
 
-  itsLastVelocity = *msg;
+
+  itsLastVelocity   = *msg;
   itsLastUpdateTime = nrt::now();
 }