Added matlab support.

Modified some c and cpp code to help.

matlab/Scan.m

@@ -0,0 +1,67 @@
+classdef Scan 
+    %A class for Lidar scans used in SLAM
+    %
+    %    Copyright (C) 2014 Simon D. Levy
+    % 
+    %    This code is free software: you can redistribute it and/or modify
+    %    it under the terms of the GNU Lesser General Public License as 
+    %    published by the Free Software Foundation, either version 3 of the 
+    %    License, or (at your option) any later version.
+    % 
+    %    This code is distributed in the hope that it will be useful,     
+    %    but WITHOUT ANY WARRANTY without even the implied warranty of
+    %    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    %    GNU General Public License for more details.
+    % 
+    %    You should have received a copy of the GNU Lesser General Public License 
+    %    along with this code.  If not, see <http:#www.gnu.org/licenses/>.
+   
+   properties (Access = {?Map, ?RMHC_SLAM})
+       
+       c_scan
+       c_laser
+   end
+   
+   methods
+       
+      function scan = Scan(laser, span)
+          % Creates a new scan object
+          %     scan  = Scan(laser, [span]) 
+          %     laser is a structure with the fields:
+          %         scan_size
+          %         scan_rate_hz
+          %         detection_angle_degrees
+          %         distance_no_detection_mm 
+          %         distance_no_detection_mm
+          %         detection_margin
+          % offset_mm = offset_mm
+          %     span (default=1) supports spanning laser scan to cover the space better
+
+          if nargin < 2
+              span = 1;
+          end
+                    
+          [scan.c_scan, scan.c_laser] = mex_coreslam('Scan_init', laser, span);
+                              
+      end 
+      
+      function disp(scan)
+          % Displays information about this Scan
+          
+          mex_coreslam('Scan_disp', scan.c_scan)
+         
+      end 
+      
+      function update(scan, scans_mm, hole_width_mm, velocities)
+          % Updates scan with new lidar and velocity data
+          %    update(scans_mm, hole_width_mm, [velocities])
+          %    scans_mm is a list of integers representing scanned distances in mm.
+          %    hole_width_mm is the width of holes (obstacles, walls) in millimeters.
+          %    velocities is an optional list[dxy_mm, dtheta_degrees]
+          %    i.e., robot's (forward, rotational velocity) for improving the quality of the scan.
+          mex_coreslam('Scan_update', scan.c_scan, scan.c_laser, int32(scans_mm), hole_width_mm, velocities)
+      end
+      
+   end
+   
+end