?? obs_seq.m
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function obs=obs_seq(state,beacons)
% HDW 15/12/94, modified 17/05/00
% function to gather a complete observation sequence
% inputs are
globals;
% state vector, containing x,y,phi,t
[XSIZE,N_STATES]=size(state);
if XSIZE ~= 4
error('Incorrect state dimension')
end
obs=zeros(4,N_STATES);
for i=1:N_STATES-1
start_loc=state(:,i);
end_loc=state(:,i+1);
obs(:,i)=rad_sim(start_loc,end_loc,beacons);
end
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