MATLAB: How to alter the roofed-section in MATLAB example (Track a Car-Like Robot using Particle Filter) for particle filter?

Question

https://in.mathworks.com/help/robotics/ug/track-a-car-like-robot-using-particle-filter.html

This is the link for the example, I am trying to understand this example, mostly I got the main concept but I wanted to play with the roofed section and its positioning. I couldnt find how to do that. Any help is much appreciated. Thanks in ADV.

Answer 1

The roofed area is defined in ExampleHelperCarBot helper function.