diff --git a/code/CMakeLists.txt.user b/code/CMakeLists.txt.user
index 43b509b..bd999fd 100644
--- a/code/CMakeLists.txt.user
+++ b/code/CMakeLists.txt.user
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 3.6.0, 2016-05-04T09:06:07. -->
+<!-- Written by QtCreator 3.6.0, 2016-05-06T02:46:46. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>
diff --git a/code/eval/SmoothingEval1.h b/code/eval/SmoothingEval1.h
index e9486ce..7e1b8ef 100644
--- a/code/eval/SmoothingEval1.h
+++ b/code/eval/SmoothingEval1.h
@@ -46,23 +46,23 @@ public:
 		//pf->setResampling( std::unique_ptr<K::ParticleFilterResamplingPercent<MyState>>(new K::ParticleFilterResamplingPercent<MyState>(0.10)) );
 
 		// state estimation step
-        //pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationWeightedAverageWithAngle<MyState>>(new K::ParticleFilterEstimationWeightedAverageWithAngle<MyState>()));
+        pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationWeightedAverageWithAngle<MyState>>(new K::ParticleFilterEstimationWeightedAverageWithAngle<MyState>()));
 		//pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationRegionalWeightedAverage<MyState>>(new K::ParticleFilterEstimationRegionalWeightedAverage<MyState>()));
-        pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationOrderedWeightedAverage<MyState>>(new K::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.50f)));
+        //pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationOrderedWeightedAverage<MyState>>(new K::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.50f)));
 
 
         //create the backward smoothing filter
-        //bf = new K::BackwardSimulation<MyState>(MiscSettings::numBSParticles);
-        bf = new K::CondensationBackwardFilter<MyState>;
-        //bf->setSampler( std::unique_ptr<K::CumulativeSampler<MyState>>(new K::CumulativeSampler<MyState>()));
+        bf = new K::BackwardSimulation<MyState>(MiscSettings::numBSParticles);
+        //bf = new K::CondensationBackwardFilter<MyState>;
+        bf->setSampler( std::unique_ptr<K::CumulativeSampler<MyState>>(new K::CumulativeSampler<MyState>()));
 
         bool smoothing_resample = false;
 
 
         //Smoothing using Simple Trans
-        //bf->setEstimation(std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
+        bf->setEstimation(std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
         //bf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationRegionalWeightedAverage<MyState>>(new K::ParticleFilterEstimationRegionalWeightedAverage<MyState>()));
-        bf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationOrderedWeightedAverage<MyState>>(new K::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.50f)));
+        //bf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationOrderedWeightedAverage<MyState>>(new K::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.50f)));
 
         if(smoothing_resample)
             bf->setResampling( std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>>(new K::ParticleFilterResamplingSimple<MyState>()) );
@@ -105,8 +105,14 @@ public:
         srs = new SensorReaderStep("./measurements/bergwerk/path4/nexus/vor/Steps2.txt");
         gtw = getGroundTruthWay(*sr, floors.gtwp, path4dbl);
 
-        MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path4dbl.back()]) );
-        GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
+//        MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path4dbl.back()]) );
+//        GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
+//        pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
+
+
+        for (auto& n : grid) {n.imp = 1;}
+
+        GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
         pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
 
 
@@ -163,8 +169,8 @@ public:
         smoothing_baro_sigma = 0.05;
     }
 
-    void bergwerk_path1_nexus_simple() {
-        runName = "bergwerk_path1_nexus_simple_interval";
+    void bergwerk_path1_nexus_simple(std::string name) {
+        runName = name;
         bergwerk_path1_nexus();
 
         for (auto& n : grid) {n.imp = 1;}
@@ -223,9 +229,9 @@ public:
 
     }
 
-    void bergwerk_path2_nexus_simple() {
+    void bergwerk_path2_nexus_simple(std::string name) {
 
-        runName = "bergwerk_path2_nexus_simple_interval";
+        runName = name;
         bergwerk_path2_nexus();
         for (auto& n : grid) {n.imp = 1;}	// remove importance
 
@@ -284,9 +290,9 @@ public:
 
     }
 
-    void bergwerk_path3_nexus_simple() {
+    void bergwerk_path3_nexus_simple(std::string name) {
 
-        runName = "bergwerk_path3_nexus_simple_interval";
+        runName = name;
         bergwerk_path3_nexus();
         for (auto& n : grid) {n.imp = 1;}	// remove importance
 
@@ -344,9 +350,9 @@ public:
 
     }
 
-    void bergwerk_path4_nexus_simple() {
+    void bergwerk_path4_nexus_simple(std::string name) {
 
-        runName = "bergwerk_path4_nexus_simple_interval";
+        runName = name;
         bergwerk_path4_nexus();
         for (auto& n : grid) {n.imp = 1;}	// remove importance
 
@@ -405,8 +411,8 @@ public:
 
     }
 
-    void bergwerk_path1_galaxy_simple() {
-        runName = "bergwerk_path1_galaxy_simple_interval";
+    void bergwerk_path1_galaxy_simple(std::string name) {
+        runName = name;
         bergwerk_path1_galaxy();
         for (auto& n : grid) {n.imp = 1;}	// remove importance
         GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
@@ -448,8 +454,8 @@ public:
 
     }
 
-    void bergwerk_path2_galaxy_simple() {
-        runName = "bergwerk_path2_galaxy_simple_interval";
+    void bergwerk_path2_galaxy_simple(std::string name) {
+        runName = name;
         bergwerk_path2_galaxy();
         for (auto& n : grid) {n.imp = 1;}	// remove importance
         GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
@@ -492,8 +498,8 @@ public:
 
     }
 
-    void bergwerk_path3_galaxy_simple() {
-        runName = "bergwerk_path3_galaxy_simple_interval";
+    void bergwerk_path3_galaxy_simple(std::string name) {
+        runName = name;
         bergwerk_path3_galaxy();
         for (auto& n : grid) {n.imp = 1;}	// remove importance
         GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
@@ -536,8 +542,8 @@ public:
         smoothing_baro_sigma = 0.15;
     }
 
-    void bergwerk_path4_galaxy_simple() {
-        runName = "bergwerk_path4_galaxy_simple_interval";
+    void bergwerk_path4_galaxy_simple(std::string name) {
+        runName = name;
         bergwerk_path4_galaxy();
         for (auto& n : grid) {n.imp = 1;}	// remove importance
         GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
diff --git a/code/main.cpp b/code/main.cpp
index 0da376d..09c38f9 100644
--- a/code/main.cpp
+++ b/code/main.cpp
@@ -87,42 +87,42 @@ void testModelWalk() {
 
 int main(void) {
 
-    {SmoothingEval1 eval;
-    eval.fixedIntervallSimpleTransPath4();
-    eval.run();}
+//    {SmoothingEval1 eval;
+//    eval.fixedIntervallSimpleTransPath4();
+//    eval.run();}
 
 
-//    for(int i = 0; i < 10; ++i){
+    for(int i = 0; i < 10; ++i){
 
-//        //nexus
-//        std::string name = "bergwerk_path1_nexus_simple_interval_" + std::to_string(i);
-//        {SmoothingEval1 eval; eval.bergwerk_path1_nexus_multi(name);    eval.run();}
+        //nexus
+        std::string name = "bergwerk_path1_nexus_simple_interval_" + std::to_string(i);
+        {SmoothingEval1 eval; eval.bergwerk_path1_nexus_simple(name);    eval.run();}
 
-//        name = "bergwerk_path2_nexus_simple_interval" + std::to_string(i);
-//        {SmoothingEval1 eval; eval.bergwerk_path2_nexus_multi(name);    eval.run();}
+        name = "bergwerk_path2_nexus_simple_interval" + std::to_string(i);
+        {SmoothingEval1 eval; eval.bergwerk_path2_nexus_simple(name);    eval.run();}
 
-//        name = "bergwerk_path3_nexus_simple_interval" + std::to_string(i);
-//        {SmoothingEval1 eval; eval.bergwerk_path3_nexus_multi(name);    eval.run();}
+        name = "bergwerk_path3_nexus_simple_interval" + std::to_string(i);
+        {SmoothingEval1 eval; eval.bergwerk_path3_nexus_simple(name);    eval.run();}
 
-//        name = "bergwerk_path4_nexus_simple_interval" + std::to_string(i);
-//        {SmoothingEval1 eval; eval.bergwerk_path4_nexus_multi(name);    eval.run();}
+        name = "bergwerk_path4_nexus_simple_interval" + std::to_string(i);
+        {SmoothingEval1 eval; eval.bergwerk_path4_nexus_simple(name);    eval.run();}
 
 
-//        //galaxy
-//        name = "bergwerk_path1_galaxy_simple_interval" + std::to_string(i);
-//        {SmoothingEval1 eval; eval.bergwerk_path1_galaxy_multi(name);	eval.run();}
+        //galaxy
+        name = "bergwerk_path1_galaxy_simple_interval" + std::to_string(i);
+        {SmoothingEval1 eval; eval.bergwerk_path1_galaxy_simple(name);	eval.run();}
 
-//        name = "bergwerk_path2_galaxy_simple_interval" + std::to_string(i);
-//        {SmoothingEval1 eval; eval.bergwerk_path2_galaxy_multi(name);	eval.run();}
+        name = "bergwerk_path2_galaxy_simple_interval" + std::to_string(i);
+        {SmoothingEval1 eval; eval.bergwerk_path2_galaxy_simple(name);	eval.run();}
 
-//        name = "bergwerk_path3_galaxy_simple_interval" + std::to_string(i);
-//        {SmoothingEval1 eval; eval.bergwerk_path3_galaxy_multi(name);	eval.run();}
+        name = "bergwerk_path3_galaxy_simple_interval" + std::to_string(i);
+        {SmoothingEval1 eval; eval.bergwerk_path3_galaxy_simple(name);	eval.run();}
 
-//        name = "bergwerk_path4_galaxy_simple_interval" + std::to_string(i);
-//        {SmoothingEval1 eval; eval.bergwerk_path4_galaxy_multi(name);	eval.run();}
+        name = "bergwerk_path4_galaxy_simple_interval" + std::to_string(i);
+        {SmoothingEval1 eval; eval.bergwerk_path4_galaxy_simple(name);	eval.run();}
 
-//        std::cout << "We are in loop number: " << i << "of " << 10 << std::endl;
-//    }
+        std::cout << "We are in loop number: " << i << "of " << 10 << std::endl;
+    }
 
 
 	return 0;