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Andrew Zach:

My question is regarding function h() that relates our state mu=[s, v] to the measurement z. In the 1st assignment the state and the measurement where the same so we defined matrix C so as to preserve the values (is that correct?). In the 2nd assignment we want to relate the s, v to z aka the angle, does that mean that we map the input to a single angle value ? Of course, in that case v is not used to calculate the angle as the problem is geometrical and knowing the distance (200m) and the height s we can find the angle. What am i missing ?

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