/** Returns the NORMALIZED observation likelihood at a given point of the state space (values in the range [0,1]).
*/
double RS_observationLikelihood( const CPose2D &x)
{
return exp( -0.5*square((x.distanceTo(CPoint2D(0,0))-1.0f)/SIGMA) );
}
/** Returns the NORMALIZED observation likelihood at a given point of the state space (values in the range [0,1]).
*/
double RS_observationLikelihood( const CPose2D &x)
{
return exp( -0.5*square((x.distanceTo(CPoint2D(0,0))-1.0f)/SIGMA) );
}