Some minor tuning
Fixed the resampler, added a uniform distribution to measurement prob
Fixes to the motion model
Begin adding precomputed distances
Finished implementation of lookup table
Visualization enhancement, fixed random orientation error, added sampling again for infeasible propogations
Fixed a few particle assignment bugs
A whole bunch of edits to god knows what purpose
omg the laser readings were off by 10 sadefasd fadsfjhadkl fasdkl;fjaldsk; j
Fixed all issues. Ray tracing order was incorrect. FINALLY WORKS! :')