public ParticleFilter(int particles, int minVal, int maxVal, double resampVariance) {
        particleCount = particles;
        initialPValMin = minVal;
        initialPValMax = maxVal;
        modelVariance = 0.4 / ((initialPValMax - initialPValMin) / particleCount);
        resampleVariance = resampVariance;
        initialParticles();
        rnd = new Random(System.currentTimeMillis());
    }