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function obs=obs_seq(state,beacons) 
 
 
% HDW 15/12/94, modified 17/05/00 
% function to gather a complete observation sequence 
% inputs are 
 
globals; 
 
% state vector, containing x,y,phi,t 
[XSIZE,N_STATES]=size(state); 
if XSIZE ~= 4 
  error('Incorrect state dimension') 
end 
 
obs=zeros(4,N_STATES); 
 
for i=1:N_STATES-1 
  start_loc=state(:,i); 
  end_loc=state(:,i+1); 
  obs(:,i)=rad_sim(start_loc,end_loc,beacons); 
end