# results_L = results_L[20:-1]
# -------------------------------MAIN SCRIPT----------------------------------
# -----------------initialize variables-------------------
alpha1 = 0
alpha2 = 0
alpha3 = 0 # increasing these two variables appears to make the particles move farther
alpha4 = 0
mot = MotionModel(alpha1, alpha2, alpha3, alpha4)
M = 1000 # number of particles
map = MapBuilder('../map/wean.dat')
mapList = map.getMap()
mapInit(mapList)
sensorModel = SensorModel('../map/wean.dat')
resampler = Resampling()
# ------------initialize particles throughout map--------
# generate list of locations with '0' value
counter = 0
goodLocs_x = []
goodLocs_y = []
for i in range(0, 800):
for j in range(0, 800):
if mapList[i][j] == 0:
counter = counter + 1
goodLocs_x.append(i)
