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function bin_state = bin_state( int_state, m ) % converts an vector of integer into a matrix; the i-th row is the binary % form % of m bits for the i-th integer for j = 1:length( int_state )

function bin_state = bin_state( int_state, m ) % converts an vector of integer into a matrix; the i-th row is the binary form % of m bits for the i-th integer for j = 1:length( int_state )

function M = perform_median_filtering(M,k) % perform_median_filtering - perform moving average median % % M = perform_median_filtering(M,k); % % k is the half width of the window (detult k=1). %

function M = perform_median_filtering(M,k) % perform_median_filtering - perform moving average median % % M = perform_median_filtering(M,k); % % k is the half width of the window (detult k=1). %

function y = rescale(x,a,b) % rescale - rescale data in [a,b] % % y = rescale(x,a,b); % % Copyright (c) 2004 Gabriel Peyr? if nargin

function y = rescale(x,a,b) % rescale - rescale data in [a,b] % % y = rescale(x,a,b); % % Copyright (c) 2004 Gabriel Peyr? if nargin

%ADDENTITY Add map entity object to map. % M = ADDENTITY(M,E) appends map entity E to map M and % extends the map covariance matrix by filling in zeros % in the new row and column belonging to E

%SETROBOT Set robot from map. % M = SETROBOT(M,R) sets the robot object in map M if M already % contains a robot. Otherwise M will be unchanged. Use ADDENTITY % to add a robot to a map. % % No

%DISPLAY Display method for map object. % DISPLAY(M) displays the map object M. % % See also MAP. % v.1.0, Nov. 2003, Kai Arras, CAS-KTH function display(m); disp(['Map "', m.name,'":']); disp(sp

%SETSTATE Set map state vector and state covariance matrix. % M = SETSTATE(M,X,C) overwrites the map state vector and the state % covariance matrix by X and C respectively. The size of X is nx1,