function w=weight(sensed,x,parameter)

switch parameter
case 1
    % enkel US
    data_US;
    dUS_i=sensed(1);
    dUS=x(1);
    w_US=1/(sqrt(2*pi)*sigma_US)*exp(-(dUS-dUS_i)^2/(2*sigma_US^2));
    w=w_US;
    
case 2
    % enkel RF
    data_RF;
    rho_i=sensed(1);    %rho meausured
    theta_i=sensed(2);  %theta meausured
    rho=x(1);   %rho of the current particle
    theta=x(2); %theta of the current particle

    %sigma_theta=abs(asin(sigma_rho/rho));
    %w=1/(sqrt(2*pi)*sigma_rho)*exp(-(rho-rho_i)^2/(2*sigma_rho^2))         *1/(sqrt(2*pi)*sigma_theta)*exp(-(theta-theta_i)^2/(2*sigma_theta^2))        *1/(sqrt(2*pi)*sigma_phi)*exp(-(phi-phi_i)^2/(2*sigma_phi^2));
    q=unwrap([theta,theta_i]);
    theta=q(1);
    theta_i=q(2);
    w_RF=1/(sqrt(2*pi)*sigma_rho)*exp(-(rho-rho_i)^2/(2*sigma_rho^2)) *1/(sqrt(2*pi)*sigma_theta)*exp(-(theta-theta_i)^2/(2*sigma_theta^2))  ;
    w=w_RF;
case 3
    % RF en US

    data_RF;
    rho_i=sensed(1);    %rho meausured
    theta_i=sensed(2);  %theta meausured
    rho=x(1);   %rho of the current particle
    theta=x(2); %theta of the current particle
    
    q=unwrap([theta,theta_i]);
    theta=q(1);
    theta_i=q(2);
    w_RF=1/(sqrt(2*pi)*sigma_rho)*exp(-(rho-rho_i)^2/(2*sigma_rho^2)) *1/(sqrt(2*pi)*sigma_theta)*exp(-(theta-theta_i)^2/(2*sigma_theta^2))  ;

    %US
    data_US;
    dUS_i=sensed(3);
    dUS=x(3);
    w_US=1/(sqrt(2*pi)*sigma_US)*exp(-(dUS-dUS_i)^2/(2*sigma_US^2));
    
    w=w_US*w_RF;
end