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Made some small changes reading through the code, no mex file compiler at home so I might have broken it.. but probably not.
Added a heavily modified version of map.m called sensor_map, which first constructs a sensor model, then maps data according to the sensor model. NEEDS to be converted to log-odds to speed up computation. There is still a transformation that needs to take place per datapoint per sensor, but ...
First attempt at a probability density mapper. Unifinished.