％

％ set some variables in the workspace to control behaviour:

％

％　　graphicsMode　　0 no graphics,

％　　　　　　1 graphics, particles, beacons, ground truth

％　　　　　　2 graphics, as above + range circles

％

％　　perfect　　　　0 use beacon range data

％　　　　　　1 use ground truth range data

％ clear a