fileID = fopen('C:\Users\C\Desktop\e2_1.txt','r');
A = fscanf(fileID,formatSpec,sizeA);
scan_initial=lidarScan(C,B);
fileID = fopen('C:\Users\C\Desktop\e2_2.txt','r');
A2 = fscanf(fileID,formatSpec,sizeA);
B2(:)=A2(:,1)*2*pi()/360;
scan_final=lidarScan(C2,B2);
referenceScan = scan_initial;
currentScan = scan_final;
currScanCart = currentScan.Cartesian;
refScanCart = referenceScan.Cartesian;
plot(refScanCart(:,1),refScanCart(:,2),'k.');
plot(currScanCart(:,1),currScanCart(:,2),'r.');
legend('Reference laser scan','Current laser scan','Location','NorthWest');
transform = matchScans(currentScan,referenceScan);
transScan = transformScan(currentScan,transform);
plot(refScanCart(:,1),refScanCart(:,2),'k.');
transScanCart = transScan.Cartesian;
plot(transScanCart(:,1),transScanCart(:,2),'r.');
legend('Reference laser scan','Transformed current laser scan','Location','NorthWest');