diff --git a/navMesh/walk/NavMeshWalkKLD.h b/navMesh/walk/NavMeshWalkKLD.h
index ca7d31e..086e5b4 100644
--- a/navMesh/walk/NavMeshWalkKLD.h
+++ b/navMesh/walk/NavMeshWalkKLD.h
@@ -81,7 +81,7 @@ namespace NM {
             // to-be-walked distance;
             const float toBeWalkedDist = params.getToBeWalkedDistance();
             const float toBeWalkedDistSafe = 0.75 + toBeWalkedDist * 1.1;
-			const float toBeWalkedDistKld = (kld * qualityWifi);
+            const float toBeWalkedDistKld = (kld * qualityWifi);
 
             // construct reachable region
             NavMeshSub<Tria> reachable(params.start, toBeWalkedDistKld); //EDIT HERE: ADD TOBEWALKDISTKLD...
diff --git a/navMesh/walk/NavMeshWalkSimple.h b/navMesh/walk/NavMeshWalkSimple.h
index 03ca2a5..8487be3 100644
--- a/navMesh/walk/NavMeshWalkSimple.h
+++ b/navMesh/walk/NavMeshWalkSimple.h
@@ -59,7 +59,7 @@ namespace NM {
 
 			// to-be-walked distance;
 			const float toBeWalkedDist = params.getToBeWalkedDistance();
-            const float toBeWalkedDistSafe = 0.75 + toBeWalkedDist * 1.1;
+                        const float toBeWalkedDistSafe = 0.75 + toBeWalkedDist * 1.1;
 
 			// construct reachable region
 			NavMeshSub<Tria> reachable(params.start, toBeWalkedDistSafe);
diff --git a/sensors/radio/setup/WiFiOptimizerLogDistCeiling.h b/sensors/radio/setup/WiFiOptimizerLogDistCeiling.h
index 63cdc5c..48b27ce 100644
--- a/sensors/radio/setup/WiFiOptimizerLogDistCeiling.h
+++ b/sensors/radio/setup/WiFiOptimizerLogDistCeiling.h
@@ -146,7 +146,7 @@ namespace WiFiOptimizer {
 			return false;
 		};
 
-		const APFilter MIN_2_FPS = [] (const Stats& stats, const MACAddress& mac) {
+                const APFilter MIN_2_FPS = [] (const Stats& stats, const MACAddress& mac) {
 			(void) mac;
 			return stats.usedFingerprins < 2;
 		};
diff --git a/smc/filtering/resampling/ParticleFilterResamplingSimpleImpoverishment.h b/smc/filtering/resampling/ParticleFilterResamplingSimpleImpoverishment.h
index aec9329..d0ad049 100644
--- a/smc/filtering/resampling/ParticleFilterResamplingSimpleImpoverishment.h
+++ b/smc/filtering/resampling/ParticleFilterResamplingSimpleImpoverishment.h
@@ -46,7 +46,7 @@ namespace SMC {
 
 			// compile-time sanity checks
 			// TODO: this solution requires EXPLICIT overloading which is bad...
-            // static_assert( HasOperatorAssign<State>::value, "your state needs an assignment operator!" );
+                        // static_assert( HasOperatorAssign<State>::value, "your state needs an assignment operator!" );
 
 			const uint32_t cnt = (uint32_t) particles.size();
 
@@ -67,20 +67,21 @@ namespace SMC {
 				particlesCopy[i].weight = cumWeight;
 			}
 
-            // randomness for drawing particles
-            std::uniform_real_distribution<float> distNewOne(0.0, 1.0);
+                        // randomness for drawing particles
+                        std::uniform_real_distribution<float> distNewOne(0.0, 1.0);
 
 			// now draw from the copy vector and fill the original one
 			// with the resampled particle-set
 			for (uint32_t i = 0; i < cnt; ++i) {
 
-                // slight chance to get a truely particle in range X m
-                if (distNewOne(gen) < 0.001) {
-                    const NM::NavMeshSub<Tria> reachable(particlesCopy[i].state.pos, 10.0);
-                    particles[i].state.pos = reachable.getRandom().drawWithin(particlesCopy[i].state.pos.pos, 10.0);
-                    particles[i].weight = equalWeight;
-                    continue;
-                }
+                                // slight chance to get a truely random particle in range X m
+                                if (distNewOne(gen) < 0.001) {
+                                    const double radius = 50.0;
+                                    const NM::NavMeshSub<Tria> reachable(particlesCopy[i].state.pos, radius);
+                                    particles[i].state.pos = reachable.getRandom().drawWithin(particlesCopy[i].state.pos.pos, radius);
+                                    particles[i].weight = equalWeight;
+                                    continue;
+                                }
 
 				particles[i] = draw(cumWeight);
 				particles[i].weight = equalWeight;
diff --git a/smc/smoothing/FastKDESmoothing.h b/smc/smoothing/FastKDESmoothing.h
index 55c55c3..8e00464 100644
--- a/smc/smoothing/FastKDESmoothing.h
+++ b/smc/smoothing/FastKDESmoothing.h
@@ -210,6 +210,15 @@ namespace SMC {
                 BoxGaus<float> boxGaus;
                 boxGaus.approxGaus(grid.image(), sigmaX, sigmaY, nFilt);
 
+                /**
+                  * Das hier wird nicht funktionieren!
+                  * Wir machen eine Transition von t zu t+1 und nehmen dann diese position um von der kde aus t+1 ein
+                  * Gewicht zu erhalten... aber das bringt ja nichts, diese Gewicht haben wir doch schon auf den partikeln in t+1
+                  * die transition macht ja nicht 2x was anderes, sondern wieder genau das gleiche.
+                  * was das smoothing gut macht, sind die Faltungen mit allen Partikeln (jeder mit jedem vergleichen).
+                **/
+
+
                 // Apply Position from Samples from q_t+1* into KDE of p(q_t+1 | o_1:T) to get p(q_t+1* | o_1:T)
                 // Calculate new weight w(q_(t|T)) = w(q_t) * p(q_t+1* | o_1:T) * p(q_t+1* | q_t) * normalisation
                 smoothedParticles = forwardHistory.getParticleSet(i);