buffers in swarm
split out normalize and sort, simplify reheapify
quickort, use buffer_factor to reduce map granularity
tighten up variance when nonconvergent, use top 99% for convergence tests, use obs->hypotheses[0] to access best pose, simplify buffer hypothesis size
use subset of scans in localization, use doubles for pose, improve buffer hypothesis size
culling, checkpointing based on distance, and line tracing near end of laser cast.