%!PS-Adobe-2.0 %%Creator: MATLAB, The Mathworks, Inc. Version 7.4.0.336 (R2007a). Operating System: Linux 2.6.11-6mdk #1 Tue Mar 22 16:04:32 CET 2005 i686.%%Title: ./bot_demo_ekf2.ps%%CreationDate: 09/04/2007  15:12:33%%DocumentNeededFonts: Helvetica%%DocumentProcessColors: Cyan Magenta Yellow Black%%Extensions: CMYK%%Pages: (atend)%%BoundingBox: (atend)%%EndComments%%BeginProlog% MathWorks dictionary/MathWorks 160 dict begin% definition operators/bdef {bind def} bind def/ldef {load def} bind def/xdef {exch def} bdef/xstore {exch store} bdef% operator abbreviations/c  /clip ldef/cc /concat ldef/cp /closepath ldef/gr /grestore ldef/gs /gsave ldef/mt /moveto ldef/np /newpath ldef/cm /currentmatrix ldef/sm /setmatrix ldef/rm /rmoveto ldef/rl /rlineto ldef/s {show newpath} bdef/sc {setcmykcolor} bdef/sr /setrgbcolor ldef/sg /setgray ldef/w /setlinewidth ldef/j /setlinejoin ldef/cap /setlinecap ldef/rc {rectclip} bdef/rf {rectfill} bdef% page state control/pgsv () def/bpage {/pgsv save def} bdef/epage {pgsv restore} bdef/bplot /gsave ldef/eplot {stroke grestore} bdef% orientation switch/portraitMode 0 def /landscapeMode 1 def /rotateMode 2 def% coordinate system mappings/dpi2point 0 def% font control/FontSize 0 def/FMS {/FontSize xstore findfont [FontSize 0 0 FontSize neg 0 0]  makefont setfont} bdef/reencode {exch dup where {pop load} {pop StandardEncoding} ifelse  exch dup 3 1 roll findfont dup length dict begin  { 1 index /FID ne {def}{pop pop} ifelse } forall  /Encoding exch def currentdict end definefont pop} bdef/isroman {findfont /CharStrings get /Agrave known} bdef/FMSR {3 1 roll 1 index dup isroman {reencode} {pop pop} ifelse  exch FMS} bdef/csm {1 dpi2point div -1 dpi2point div scale neg translate dup landscapeMode eq {pop -90 rotate}  {rotateMode eq {90 rotate} if} ifelse} bdef% line types: solid, dotted, dashed, dotdash/SO { [] 0 setdash } bdef/DO { [.5 dpi2point mul 4 dpi2point mul] 0 setdash } bdef/DA { [6 dpi2point mul] 0 setdash } bdef/DD { [.5 dpi2point mul 4 dpi2point mul 6 dpi2point mul 4  dpi2point mul] 0 setdash } bdef% macros for lines and objects/L {lineto stroke} bdef/MP {3 1 roll moveto 1 sub {rlineto} repeat} bdef/AP {{rlineto} repeat} bdef/PDlw -1 def/W {/PDlw currentlinewidth def setlinewidth} def/PP {closepath eofill} bdef/DP {closepath stroke} bdef/MR {4 -2 roll moveto dup  0 exch rlineto exch 0 rlineto  neg 0 exch rlineto closepath} bdef/FR {MR stroke} bdef/PR {MR fill} bdef/L1i {{currentfile picstr readhexstring pop} image} bdef/tMatrix matrix def/MakeOval {newpath tMatrix currentmatrix pop translate scale0 0 1 0 360 arc tMatrix setmatrix} bdef/FO {MakeOval stroke} bdef/PO {MakeOval fill} bdef/PD {currentlinewidth 2 div 0 360 arc fill   PDlw -1 eq not {PDlw w /PDlw -1 def} if} def/FA {newpath tMatrix currentmatrix pop translate scale  0 0 1 5 -2 roll arc tMatrix setmatrix stroke} bdef/PA {newpath tMatrix currentmatrix pop	translate 0 0 moveto scale  0 0 1 5 -2 roll arc closepath tMatrix setmatrix fill} bdef/FAn {newpath tMatrix currentmatrix pop translate scale  0 0 1 5 -2 roll arcn tMatrix setmatrix stroke} bdef/PAn {newpath tMatrix currentmatrix pop translate 0 0 moveto scale  0 0 1 5 -2 roll arcn closepath tMatrix setmatrix fill} bdef/vradius 0 def /hradius 0 def /lry 0 def/lrx 0 def /uly 0 def /ulx 0 def /rad 0 def/MRR {/vradius xdef /hradius xdef /lry xdef /lrx xdef /uly xdef  /ulx xdef newpath tMatrix currentmatrix pop ulx hradius add uly  vradius add translate hradius vradius scale 0 0 1 180 270 arc   tMatrix setmatrix lrx hradius sub uly vradius add translate  hradius vradius scale 0 0 1 270 360 arc tMatrix setmatrix  lrx hradius sub lry vradius sub translate hradius vradius scale  0 0 1 0 90 arc tMatrix setmatrix ulx hradius add lry vradius sub  translate hradius vradius scale 0 0 1 90 180 arc tMatrix setmatrix  closepath} bdef/FRR {MRR stroke } bdef/PRR {MRR fill } bdef/MlrRR {/lry xdef /lrx xdef /uly xdef /ulx xdef /rad lry uly sub 2 div def  newpath tMatrix currentmatrix pop ulx rad add uly rad add translate  rad rad scale 0 0 1 90 270 arc tMatrix setmatrix lrx rad sub lry rad  sub translate rad rad scale 0 0 1 270 90 arc tMatrix setmatrix  closepath} bdef/FlrRR {MlrRR stroke } bdef/PlrRR {MlrRR fill } bdef/MtbRR {/lry xdef /lrx xdef /uly xdef /ulx xdef /rad lrx ulx sub 2 div def  newpath tMatrix currentmatrix pop ulx rad add uly rad add translate  rad rad scale 0 0 1 180 360 arc tMatrix setmatrix lrx rad sub lry rad  sub translate rad rad scale 0 0 1 0 180 arc tMatrix setmatrix  closepath} bdef/FtbRR {MtbRR stroke } bdef/PtbRR {MtbRR fill } bdef/stri 6 array def /dtri 6 array def/smat 6 array def /dmat 6 array def/tmat1 6 array def /tmat2 6 array def /dif 3 array def/asub {/ind2 exch def /ind1 exch def dup dup  ind1 get exch ind2 get sub exch } bdef/tri_to_matrix {  2 0 asub 3 1 asub 4 0 asub 5 1 asub  dup 0 get exch 1 get 7 -1 roll astore } bdef/compute_transform {  dmat dtri tri_to_matrix tmat1 invertmatrix   smat stri tri_to_matrix tmat2 concatmatrix } bdef/ds {stri astore pop} bdef/dt {dtri astore pop} bdef/db {2 copy /cols xdef /rows xdef mul dup 3 mul string  currentfile exch readhexstring pop  dup 0 3 index getinterval /rbmap xdef  dup 2 index dup getinterval /gbmap xdef  1 index dup 2 mul exch getinterval /bbmap xdef pop pop}bdef/it {gs np dtri aload pop moveto lineto lineto cp c  cols rows 8 compute_transform   rbmap gbmap bbmap true 3 colorimage gr}bdef/il {newpath moveto lineto stroke}bdefcurrentdict end def%%EndProlog%%BeginSetupMathWorks begin0 capend%%EndSetup%%Page: 1 1%%BeginPageSetup%%PageBoundingBox:    70   215   550   602MathWorks beginbpage%%EndPageSetup%%BeginObject: obj1bplot/dpi2point 12 defportraitMode 0216 7344 csm  628   110  5763  4651 MR c np86 dict begin %Colortable dictionary/c0 { 0.000000 0.000000 0.000000 sr} bdef/c1 { 1.000000 1.000000 1.000000 sr} bdef/c2 { 0.900000 0.000000 0.000000 sr} bdef/c3 { 0.000000 0.820000 0.000000 sr} bdef/c4 { 0.000000 0.000000 0.800000 sr} bdef/c5 { 0.910000 0.820000 0.320000 sr} bdef/c6 { 1.000000 0.260000 0.820000 sr} bdef/c7 { 0.000000 0.820000 0.820000 sr} bdefc01 j1 sg   0    0 6917 5186 PR6 w0 4226 5360 0 0 -4226 899 4615 4 MPPP-5360 0 0 4226 5360 0 0 -4226 899 4615 5 MP stroke4 wDOSO6 w0 sg 899 4615 mt 6259 4615 L 899  389 mt 6259  389 L 899 4615 mt  899  389 L6259 4615 mt 6259  389 L 899 4615 mt 6259 4615 L 899 4615 mt  899  389 L 899 4615 mt  899 4561 L 899  389 mt  899  442 L%%IncludeResource: font Helvetica/Helvetica /ISOLatin1Encoding 120 FMSR 746 4760 mt (-1.5) s1792 4615 mt 1792 4561 L1792  389 mt 1792  442 L1689 4760 mt (-1) s2685 4615 mt 2685 4561 L2685  389 mt 2685  442 L2532 4760 mt (-0.5) s3579 4615 mt 3579 4561 L3579  389 mt 3579  442 L3546 4760 mt (0) s4472 4615 mt 4472 4561 L4472  389 mt 4472  442 L4389 4760 mt (0.5) s5365 4615 mt 5365 4561 L5365  389 mt 5365  442 L5332 4760 mt (1) s6259 4615 mt 6259 4561 L6259  389 mt 6259  442 L6176 4760 mt (1.5) s 899 4615 mt  952 4615 L6259 4615 mt 6205 4615 L 628 4659 mt (-2.5) s 899 4086 mt  952 4086 L6259 4086 mt 6205 4086 L 728 4130 mt (-2) s 899 3558 mt  952 3558 L6259 3558 mt 6205 3558 L 628 3602 mt (-1.5) s 899 3030 mt  952 3030 L6259 3030 mt 6205 3030 L 728 3074 mt (-1) s 899 2502 mt  952 2502 L6259 2502 mt 6205 2502 L 628 2546 mt (-0.5) s 899 1973 mt  952 1973 L6259 1973 mt 6205 1973 L 798 2017 mt (0) s 899 1445 mt  952 1445 L6259 1445 mt 6205 1445 L 698 1489 mt (0.5) s 899  917 mt  952  917 L6259  917 mt 6205  917 L 798  961 mt (1) s 899  389 mt  952  389 L6259  389 mt 6205  389 L 698  433 mt (1.5) s 899 4615 mt 6259 4615 L 899  389 mt 6259  389 L 899 4615 mt  899  389 L6259 4615 mt 6259  389 Lgs 899 389 5361 4227 MR c np0 -349 -1 -11 0 -464 -1 -11 0 -232 -1 -11 -2 -11 -1 -10 -3 -10 -3 -11 -4 -10 -4 -11 -4 -10 -5 -10 -6 -10 -6 -10 -7 -10 -7 -9 -8 -10 -8 -9 -9 -9 -9 -9 -10 -9 -10 -9 -11 -8 -11 -9 -11 -8 -12 -8 -12 -8 -13 -7 -13 -7 -13 -7 -14 -7 -14 -6 -15 -7 -14 -6 -15 -5 -16 -6 -15 -5 -16 -5 -16 -4 -17 -4 -16 -4 -17 -4 -17 -3 -17 -3 -17 -3 -18 -3 -17 -2 -18 -1 -18 -2 -17 -1 -18 -1 -18 0 -18 -1 -18 0 -18 0 -17 0 -18 0 -18 0 -18 0 -18 1 -18 0 -18 0 -17 0 -18 0 -18 0 -18 0 -18 0 -18 0 -18 0 -18 0 -17 0 -18 0 -18 0 -18 0 -18 0 -18 0 -18 0 -17 0 -18 0 -18 0 -18 0 -18 0 -18 0 -18 0 -18 0 -17 0 -18 0 -18 0 -18 0 -18 0 -18 0 -18 0 -17 0 -18 0 -18 0 -18 0 -18 0 3473 3705 100 MP stroke-18 0 -18 0 -18 0 -17 0 -18 0 -18 0 -18 0 -18 0 -18 0 -18 0 -17 0 -18 0 -18 0 -18 0 -18 0 -18 0 -18 0 -18 0 -17 0 -18 0 -18 0 -18 0 -18 0 -18 0 -18 0 -17 0 -18 0 -18 0 -18 0 -18 0 -18 0 -18 0 -18 0 -17 0 -18 0 -18 0 -18 0 -18 0 -18 0 -18 0 -17 0 -18 0 -18 0 -18 0 -18 0 -18 0 -18 0 -18 0 -17 0 -18 0 -18 0 -18 0 -18 0 -18 0 -18 0 -17 0 -18 0 -18 1 -18 1 -18 2 -17 2 -18 2 -17 2 -17 3 -17 3 -17 3 -17 4 -17 4 -16 4 -16 5 -16 5 -16 5 -15 5 -15 6 -15 6 -14 6 -14 7 -14 6 -13 7 -13 8 -13 7 -12 8 -12 8 -11 8 -11 8 -11 9 -10 8 -10 9 -9 9 -9 10 -8 9 -7 10 -8 9 -6 10 -7 10 -5 10 -5 10 -5 10 -4 11 5022 3435 100 MP stroke-4 10 -3 10 -2 11 -2 10 -1 11 -1 10 0 941 1 10 0 116 1 11 1 11 2 10 3 11 3 10 3 10 4 11 5 10 5 10 6 10 6 10 7 10 7 9 8 10 8 9 9 9 9 9 9 9 10 9 11 9 11 8 11 8 12 8 12 8 13 7 13 7 14 7 13 7 14 7 15 6 15 6 15 5 15 6 16 5 15 5 17 4 16 5 16 4 17 3 17 4 17 3 18 2 17 3 17 2 18 2 18 1 18 1 17 1 18 1 18 0 18 0 18 0 18 0 17 0 18 0 18 0 18 0 18 0 18 0 18 0 18 0 17 0 18 0 18 0 18 0 18 0 18 0 18 0 17 0 18 0 18 0 18 0 18 0 18 0 18 0 18 0 17 0 18 0 18 0