function s=Sense(x,parameter,ruis);

data_RF;
x_m=x(1);
y_m=x(2);
theta_m=x(3);
% sensor measurements

% LASER RANGE FINDER mounted on a fixed place
% target mounted on the moving robot
dx=x_m-xs;
dy=y_m-ys;
%  s=[sqrt(dx^2+dy^2);atan2(dy,dx)-thetas;
%     atan2(-dy,-dx)-thetam]; %[rho;theta;phi]
s_RF=[sqrt(dx^2+dy^2);atan2(dy,dx)-thetas]; %[rho;theta]

switch parameter
    case 1
        % ULTRASONIC SENSOR measuring distance to a fixed wall: data_US
        data_US;
        s_US=([wall(1) -1]*[x_m;y_m] + wall(2) )*2/sqrt(wall(1)^2+1);
        if ruis==1
            s_US=s_US+rand_N(mu_US,sigma_US^2,1,1);  
        end
        % enkel US
        s=[s_US];
    case 2
        % % enkel RF
        data_RF;
        x_m=x(1);
        y_m=x(2);
        theta_m=x(3);
        % LASER RANGE FINDER mounted on a fixed place
        % target mounted on the moving robot
        dx=x_m-xs;
        dy=y_m-ys;
        %  s=[sqrt(dx^2+dy^2);atan2(dy,dx)-thetas;
        %     atan2(-dy,-dx)-thetam]; %[rho;theta;phi]
        s_RF=[sqrt(dx^2+dy^2);atan2(dy,dx)-thetas]; %[rho;theta]
        if ruis==1
            s_RF=s_RF+[rand_N(mu_rho,sigma_rho^2,1,1);rand_N(mu_theta,sigma_theta^2,1,1)];
        end
        s=[s_RF];
    case 3
        %
        % % RF en US
        data_RF;
        x_m=x(1);
        y_m=x(2);
        theta_m=x(3);
        % LASER RANGE FINDER mounted on a fixed place
        % target mounted on the moving robot
        dx=x_m-xs;
        dy=y_m-ys;
        %  s=[sqrt(dx^2+dy^2);atan2(dy,dx)-thetas;
        %     atan2(-dy,-dx)-thetam]; %[rho;theta;phi]
        s_RF=[sqrt(dx^2+dy^2);atan2(dy,dx)-thetas]; %[rho;theta]
        data_US;
        s_US=([wall(1) -1]*[x_m;y_m] + wall(2) )*2/sqrt(wall(1)^2+1);
        if ruis==1
            s_US=s_US+rand_N(mu_US,sigma_US^2,length(s_US(:,1)),length(s_US(1,:)));  
            s_RF=s_RF+[rand_N(mu_rho,sigma_rho^2,1,1);rand_N(mu_theta,sigma_theta^2,1,1)];

        end
        s=[s_RF;s_US];
end