diff --git a/code/filter.h b/code/filter.h
index 55deb66..006d473 100644
--- a/code/filter.h
+++ b/code/filter.h
@@ -180,6 +180,24 @@ class MyPFTransStatic : public SMC::ParticleFilterTransition<MyState, MyControl>
     }
 };
 
+struct MyPFTransRandom : public SMC::ParticleFilterTransition<MyState, MyControl>{
+
+        Distribution::Normal<float> dStepSize;
+        MyPFTransRandom()
+            : dStepSize(0.0f, 0.6f)
+        {}
+
+        void transition(std::vector<SMC::Particle<MyState>>& particles, const MyControl* control) override {
+
+            #pragma omp parallel for num_threads(3)
+            for (int i = 0; i < particles.size(); ++i) {
+                SMC::Particle<MyState>& p = particles[i];
+                p.state.pos.pos.x += dStepSize.draw();
+                p.state.pos.pos.y += dStepSize.draw();
+            }
+        }
+};
+
 class MyPFTrans : public SMC::ParticleFilterTransition<MyState, MyControl> {
 
     //using MyNavMeshWalk = NM::NavMeshWalkSimple<MyNavMeshTriangle>;
@@ -190,8 +208,6 @@ class MyPFTrans : public SMC::ParticleFilterTransition<MyState, MyControl> {
 
 	MyNavMeshWalk walker;
 
-    const double lambda =  0.03;
-
 public:
 
     //std::vector<double> listRadiusSub;
@@ -208,9 +224,9 @@ public:
     void transition(std::vector<SMC::Particle<MyState>>& particles, const MyControl* control) override {
 
         // walking and heading random
-        Distribution::Normal<float> dStepSizeFloor(0.60, 0.1);
-        Distribution::Normal<float> dStepSizeStair(0.35, 0.1);
-        Distribution::Normal<float> dHeading(0.0, 0.1);
+        Distribution::Normal<float> dStepSizeFloor(0.60f, 0.1f);
+        Distribution::Normal<float> dStepSizeStair(0.35f, 0.1f);
+        Distribution::Normal<float> dHeading(0.0, 0.1f);
         
         #pragma omp parallel for num_threads(3)
         for (int i = 0; i < particles.size(); ++i) {
@@ -225,16 +241,13 @@ public:
 			params.stepSizes.stepSizeFloor_m = dStepSizeFloor.draw();
 			params.stepSizes.stepSizeStair_m = dStepSizeStair.draw();
 
-            if(params.stepSizes.stepSizeFloor_m < 0.1 || params.stepSizes.stepSizeStair_m < 0.1){
-                params.stepSizes.stepSizeFloor_m  = 0.1;
-                params.stepSizes.stepSizeStair_m  = 0.1;
+            if(params.stepSizes.stepSizeFloor_m < 0.1f || params.stepSizes.stepSizeStair_m < 0.1f){
+                params.stepSizes.stepSizeFloor_m  = 0.1f;
+                params.stepSizes.stepSizeStair_m  = 0.1f;
             }
 
-            double deltaUnblockable = 0.01;
-
 			// walk
             MyNavMeshWalk::ResultEntry res = walker.getOne(params);
-            //MyNavMeshWalk::ResultEntry res = walker.getOne(params, kld, lambda, qualityWifi);
 
 			// assign back to particle's state
             p.weight *= res.probability;
@@ -303,7 +316,7 @@ public:
             for (auto& wifi : observation.wifi) {
 
                 if (   (true && wifi.second.getAP().getMAC() == Settings::NUC1)
-                    || (true && wifi.second.getAP().getMAC() == Settings::NUC2) 
+                    || (true && wifi.second.getAP().getMAC() == Settings::NUC2)
                     || (true && wifi.second.getAP().getMAC() == Settings::NUC3)
                     || (true && wifi.second.getAP().getMAC() == Settings::NUC4)
                     )
diff --git a/code/main.cpp b/code/main.cpp
index 0fb9d72..882d4a9 100644
--- a/code/main.cpp
+++ b/code/main.cpp
@@ -265,7 +265,7 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int walkIdx, std:
     auto eval = std::make_unique<MyPFEval>();
     eval->kalmanMap = kalmanMap;
 
-    auto trans = std::make_unique<MyPFTrans>(mesh);
+    auto trans = std::make_unique<MyPFTransRandom>();
     //auto trans = std::make_unique<MyPFTransStatic>();
 
     auto resample = std::make_unique<SMC::ParticleFilterResamplingSimple<MyState>>();
@@ -380,7 +380,7 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int walkIdx, std:
             ctrl.lastEstimate = est.pos.pos;
 
 
-            // draw wifi ranges           
+            // draw wifi ranges
             for (auto& ftm : obs.wifi)
             {
                 int nucid = Settings::data.CurrentPath.NUCs.at(ftm.second.getAP().getMAC()).ID;