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How to alter the roofed-section in MATLAB example (Track a Car-Like Robot using Particle Filter) for particle filter??

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This is the link for the example, I am trying to understand this example, mostly I got the main concept but I wanted to play with the roofed section and its positioning. I couldnt find how to do that. Any help is much appreciated. Thanks in ADV.

Accepted Answer

Yiping Liu
Yiping Liu on 22 Jan 2021
The roofed area is defined in ExampleHelperCarBot helper function.

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