function w= compute_weight(particle, z, idf, R)

[zp,Hv,Hf,Sf]= compute_jacobians(particle, idf, R);

v= z-zp;
v(2,:)= pi_to_pi(v(2,:));

w= 1;
for i=1:size(z,2)
    S= Sf(:,:,i); 
    den= 2*pi*sqrt(det(S));
    num= exp(-0.5 * v(:,i)' * inv(S) * v(:,i));
    w = w* num/den;
end