plotLikelihood

 plotLikelihood - plots the observation likelihood given the
 supplied parameters
 plotLikelihood( accuracy, sigma, epsilon, range )
 parameter: accuracy - the accuracy of the sensor (numeric) (the
    likelihood within accuracy of the observation is considered to be
    equally likely)
 parameter: sigma - the standard deviation of the likelihood (real numeric)
 parameter: epsilon - the bias (real numeric)
 parameter: range - the range to plot numeric vector with two elements
 parameter: step - step between points in the plot

 AUTHOR  Ronnie Johansson
 CREATED 2005-02-02
 ALTERED

0001 function plotLikelihood( accuracy, sigma, epsilon, range, step )
0002 %
0003 % plotLikelihood - plots the observation likelihood given the
0004 % supplied parameters
0005 % plotLikelihood( accuracy, sigma, epsilon, range )
0006 % parameter: accuracy - the accuracy of the sensor (numeric) (the
0007 %    likelihood within accuracy of the observation is considered to be
0008 %    equally likely)
0009 % parameter: sigma - the standard deviation of the likelihood (real numeric)
0010 % parameter: epsilon - the bias (real numeric)
0011 % parameter: range - the range to plot numeric vector with two elements
0012 % parameter: step - step between points in the plot
0013 %
0014 % AUTHOR  Ronnie Johansson
0015 % CREATED 2005-02-02
0016 % ALTERED
0017 %
0018 
0019 if (length(range) < 2)
0020   disp('parameter range should be a vector with two elements!');
0021   return;
0022 end
0023 
0024 min_d = min(range);
0025 max_d = max(range);
0026 
0027 d_1 = [];
0028 d_2 = [];
0029 
0030 if min_d < accuracy
0031   d_1 = (min_d:step:min( max_d, accuracy ))';
0032 end
0033 
0034 if max_d > accuracy
0035   d_2 = (max( accuracy, min_d ):step:max_d)';
0036 end
0037 
0038 p = [];
0039 
0040 if ~isempty( d_1 )
0041   p = [p; ones(length(d_1),1)+epsilon];
0042 end
0043 
0044 if ~isempty( d_2 )
0045   p = [p; epsilon+exp(-(d_2-accuracy).^2/(2*sigma^2))];
0046 end
0047 
0048 figure; hold on;
0049 axis([0 max_d 0 1+epsilon+0.1]);
0050 plot([d_1;d_2], p);
0051 %plot([range(1):step:accuracy accuracy:step:range(2)], p); % equivalent