range_func.m

％ ％ set some variables in the workspace to control behaviour: ％ ％ graphicsMode 0 no graphics, ％

function pr = slam_rfunc(x, bpos, range, sigma)

	% distance of this particle from the beacon
	d = x - ones(numrows(x),1)*bpos';
	r = sqrt( sum(d'.^2) )'; % the ranges from each particle to the beacon

    % The probability of each particle:
	pr = 1/sigma/sqrt(2*pi)*exp(-((r-range)/sigma).^2/2);% + 0.70;