function g = exampleHelperTurtleBotGaussian( dims, sigma )
    %exampleHelperTurtleBotGaussian - Gaussian matrix of dimension dims with width sigma
    %   G = exampleHelperTurtleBotGaussian(DIMS,SIGMA) produces a centered, two-dimensional Gaussian
    %   matrix of dimension DIM(1)xDIM(2), with standard deviation SIGMA
    
    %   Copyright 2014 The MathWorks, Inc.
    
    % Compute center of matrix along with appropriate x and y coordinates
    % of each entry
    center = (dims+1)/2;
    x = repmat((1:dims(1))',[1,dims(2)]) - center(1);
    y = repmat(1:dims(2),[dims(1),1]) - center(2);
    
    % Compute the value of the Gaussian at each point, then normalize
    g = exp(-(x.^2 + y.^2)./(2*sigma^2));
    g = g./(sum(sum(g),2));
end

