Merge pull request #28 from greenteawarrior/visualizing

visualize_p_weights()
Merge pull request #29 from greenteawarrior/visualizing

accidentally comitted plot_tests.py (intermediate test script for playing with matplotlib)
Making the map accurate
Merge pull request #31 from greenteawarrior/emily_experiments

STAR_map_cleaned
visualize_weights is now a ParticleFilter class variable instead of a sketchy global
Merge branch 'master' of github.com:greenteawarrior/mobile-robotics into emily_experiments