forwardSimulate.m

function [observation,reward,newState] = forwardSimulate(state, action)
newState = state;
x = state.robotPose(1);
y = state.robotPose(2);
theta = state.robotPose(3);
u_t_tmp = [ 0 0 0];
dist = 0;
actionReward = -1; 
switch action
    case 1
        dist = 1;
        actionReward = 1;
    case 2
        theta = theta -1;

    case 3
        theta = theta + 1;

    case 4
        dist = 2;
        actionReward = 0;
        
end
if theta > 4
    theta = 1;
    
elseif theta < 1
    theta = 4;
end

switch theta
    case 1
        u_t_tmp = [0 dist 0];
    case 2
        u_t_tmp = [dist 0 0];
    case 3
        u_t_tmp = [0 -dist 0];
    case 4
        u_t_tmp = [-dist 0 0];
end

newState.robotPose = state.robotPose + u_t_tmp;
newState.robotPose(3) =  theta;

observation = generateObservation(newState);
newState = particle_filter(newState,u_t_tmp,observation);


%Reward Mapping:
visionReward = sum(newState.seenCells(find(observation >= 0))); 
newState.seenCells(find(observation >= 0)) = 0;
x = newState.robotPose(1);
y = newState.robotPose(2);
if x < 1 || y < 1 || x > 100 || y > 100
    reward = -1000;
    return;
end
if state.physicalMap(y,x) > 0.1
    impactReward = -100;
else
    impactReward = 0;
end
reward = visionReward+impactReward+actionReward;



end