Colony

Revision 1134

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
theres not much I think I can do about that.

points = [];

%Map area:

[X1,X2] = meshgrid(-100:5:100,-100:5:100);

X = [X1(:),X2(:)];

prob_map = zeros(size(X1,1),size(X2,2));

%Map area, defined in centimeters:

[X,Y] = meshgrid(-100:2:100,-100:2:100);

%V = [X1(:),X2(:)];

prob_map = zeros(size(X,1),size(Y,2));

%Set position and range error constant for testing FIXME!

range_error = 250;

pos_error = 500;

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