Bresenham Line of Sight

Check for line of sight between points in a binary occupancy grid using Bresenham's line algorithm.

Check for line of sight between points in a binary occupancy grid using Bresenham's line algorithm. The function bresenhamlineofsightint checks for line of sight between cell corners (integer coordinates), the function bresenhamlineofsightarb checks for line of sight between arbitrary points (arbitrary coordinates), and the function bresenhamlineofsightfromtoarb returns the distance that is clear along a line of sight to an arbitrary point. Implementations are provided as m-functions and C source code that can be compiled into MEX-functions (the m-functions were developed as the prototypes for the MEX-functions).