fixed baraomter issue (skip first few readings due to sensor errors)

added new eval using shortest-path + plotting
removed compiler warnings for clean-code
fixed some minor issues
added new TeX code and new graphics

code/particles/MyInitializer.h

@@ -9,12 +9,16 @@
 class MyInitializer : public K::ParticleFilterInitializer<MyState> {
 
 private:
+
+	Grid<MyGridNode>& grid;
+
 	int x_cm;
 	int y_cm;
 	int z_cm;
+
 	int heading;
 
-	Grid<MyGridNode>& grid;
+
 
 public:
 

code/particles/MyTransition.h

@@ -104,7 +104,7 @@ public:
 
 			// randomly move the particle within its target grid (box)
 			// (z remains unchanged!)
-			const int grid_size_cm = grid.getGridSize_cm();
+			//const int grid_size_cm = grid.getGridSize_cm();
 
 			// new position (x,y) is randomly distributed within the target node
 			Point3 noise = Point3(0,0,0);		// TODO