Hi guys. Hope you're doing well, my question is about mapping and localization in mobile robotics. so if i want to localize my robot in a known map using laser range finder, how can i get for every laser beam the expected measurement to use it then.

% How to calculate the probabilistic sensor model (the expected measurement) of a mobile robot equipped by lidar sensor, to use it then in the weighing step of the particle filter in order to use the Monte Carlo Localization.