Appendix D: Simulation of range data
In this appendix we present the code we used to simulate range data. This is essentially a ray-tracing program where the user can specify a simple environment This is C code targeted at the ADSP Share 21062 DSP on the SignalMaster prototype platform used in our work and the code uses libraries targeted at this design environment Despite this, the core algorithm should be portable to any C compiler Please remember this is 'prototype code' it worked for our purposes but it is not necessarily fully documented and it may not represent an 'ideal' implementation. Use of this code (or any part thereof) is entirely at your risk. We cannot provide support and will not accept any liability for your use of this code (in part or whole). This code (or any part thereof) must not be used to maintain the safety or security of people or equipment.