added the mixing particle filter model with all is might and failures :)

code/Settings.h

@@ -5,12 +5,27 @@
 #include <Indoor/data/Timestamp.h>
 #include <Indoor/sensors/radio/VAPGrouper.h>
 
+#include <eigen3/Eigen/Dense>
+
 namespace Settings {
 
     bool useKLB = true;
 
     const int numParticles = 5000;
 
+    namespace Mode1 {
+        const double modeProbability = 0.5;
+    }
+
+    namespace Mode2 {
+        const double modeProbability = 0.5;
+    }
+
+    namespace Mixing {
+        //Eigen::Matrix2d transitionProbabilityMatrix(1,0,0,1);
+        const double lambda = 0.05;
+    }
+
 	namespace IMU {
         const float turnSigma = 2.5;		// 3.5
         const float stepLength = 1.00;