Hi Aminu,
While navigating your robot, you will likely have access to the state derivative (or vehicle commands) applied during your path-following. Assuming that your commands/state-derivative are constant between each timestep, you can calculate your desired metrics via simple integration.
Assuming your system follows standard differentialDriveKinematics, the commands for your robot are 
, velocity and angular velocity, respectively:
, velocity and angular velocity, respectively:% Define a random sequence of commands that were applied to your robot
v = rand(100,1);
w = (rand(100,1)-.5)
% Assume a fixed control step-size
dt = 0.1;
% Assuming that controls are held constant between each step, integrate
% the controls over the trajectory to calculate total change in distance/angle.
totalDist = sum(abs(v*dt));
totalChangeInAngle = sum(abs(w*dt));
totalTime = dt*numel(v);
If your commands are instead given in terms of wheelspeed (
), you can use these formulas for converting them to generalized commands.
), you can use these formulas for converting them to generalized commands.Hope this helps,
Cameron
