Colony

sensor_model_width = 100;

sensor_model_height = 100;

map_width = 800;

map_height = 800;

arena = ones(map_width,map_height);

sample_sensor = sensor_model(:,:, 60);

%sample data:

x = 200;

y = 100;

dx = x;

dy = y;

objTheta = pi;

%objTheta = 0;

translation_mat = [1,   0, 0;

				   0,   1, 0;

				   dx, dy, 1];

rotation_mat = [cos(objTheta), sin(objTheta), 0;

			   -sin(objTheta), cos(objTheta), 0

			   			    0,			   0, 1];

udata = [-1, 1] * sensor_model_width/2;

vdata = [-1, 1] * sensor_model_height/2;

xdata = [-1, 1] * map_width/2;

ydata = [-1, 1] * map_height/2;

transformation_mat = rotation_mat * translation_mat;

translation = maketform('affine', transformation_mat);

sensor = imtransform(sample_sensor, translation,... 

		'UData', udata, 'Vdata', vdata,...

		'XData', xdata, 'YData', ydata,...

		'Size', [map_width, map_height], 'FillValues', 1);

size(arena)

size(sensor)

arena = arena.*sensor;

image(arena.*20);